IK_QPositionTask Class Reference

#include <IK_QTask.h>

Inheritance diagram for IK_QPositionTask:

List of all members.

Public Member Functions
	IK_QPositionTask (bool primary, const IK_QSegment *segment, const MT_Vector3 &goal)
void	ComputeJacobian (IK_QJacobian &jacobian)
MT_Scalar	Distance () const
bool	PositionTask () const
void	Scale (float scale)

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Detailed Description

Definition at line 92 of file IK_QTask.h.

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Constructor & Destructor Documentation

IK_QPositionTask::IK_QPositionTask	(	bool	primary,
		const IK_QSegment *	segment,
		const MT_Vector3 &	goal
	)

Definition at line 51 of file IK_QTask.cpp.

References IK_QTask::m_segment, IK_QSegment::MaxExtension(), and IK_QSegment::Parent().

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Member Function Documentation

void IK_QPositionTask::ComputeJacobian

(

IK_QJacobian &

jacobian

)

[virtual]

Implements IK_QTask.

Definition at line 73 of file IK_QTask.cpp.

References IK_QSegment::Axis(), MT_Vector3::cross(), IK_QSegment::DoFId(), IK_QSegment::GlobalEnd(), IK_QSegment::GlobalStart(), i, length(), MT_Vector3::length(), IK_QTask::m_id, IK_QTask::m_segment, IK_QTask::m_size, IK_QTask::m_weight, IK_QSegment::NumberOfDoF(), p, IK_QSegment::Parent(), IK_QJacobian::SetBetas(), IK_QJacobian::SetDerivatives(), and IK_QSegment::Translational().

MT_Scalar IK_QPositionTask::Distance

(

)

const [virtual]

Implements IK_QTask.

Definition at line 106 of file IK_QTask.cpp.

References IK_QSegment::GlobalEnd(), MT_Vector3::length(), and IK_QTask::m_segment.

bool IK_QPositionTask::PositionTask

(

)

const [inline, virtual]

Reimplemented from IK_QTask.

Definition at line 105 of file IK_QTask.h.

void IK_QPositionTask::Scale

(

float

scale

)

[inline, virtual]

Reimplemented from IK_QTask.

Definition at line 106 of file IK_QTask.h.

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The documentation for this class was generated from the following files:

• IK_QTask.h
• IK_QTask.cpp