IK_QCenterOfMassTask Class Reference

#include <IK_QTask.h>

Inheritance diagram for IK_QCenterOfMassTask:

List of all members.

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

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Detailed Description

Definition at line 131 of file IK_QTask.h.

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Constructor & Destructor Documentation

IK_QCenterOfMassTask::IK_QCenterOfMassTask	(	bool	primary,
		const IK_QSegment *	segment,
		const MT_Vector3 &	center
	)

Definition at line 160 of file IK_QTask.cpp.

References IK_QTask::m_segment, and MT_fuzzyZero().

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Member Function Documentation

void IK_QCenterOfMassTask::ComputeJacobian

(

IK_QJacobian &

jacobian

)

[virtual]

Implements IK_QTask.

Definition at line 216 of file IK_QTask.cpp.

References MT_Vector3::length(), IK_QTask::m_id, IK_QTask::m_segment, IK_QTask::m_size, IK_QTask::m_weight, and IK_QJacobian::SetBetas().

MT_Scalar IK_QCenterOfMassTask::Distance

(

)

const [virtual]

Implements IK_QTask.

Definition at line 236 of file IK_QTask.cpp.

void IK_QCenterOfMassTask::Scale

(

float

scale

)

[inline, virtual]

Reimplemented from IK_QTask.

Definition at line 144 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