Blender: IK_QJacobianSolver Class Reference

Blender V2.61 - r43446

#include <IK_QJacobianSolver.h>

List of all members.

Public Member Functions
	IK_QJacobianSolver ()
	~IK_QJacobianSolver ()
void	SetPoleVectorConstraint (IK_QSegment *tip, MT_Vector3 &goal, MT_Vector3 &polegoal, float poleangle, bool getangle)
float	GetPoleAngle ()
bool	Setup (IK_QSegment root, std::list< IK_QTask > &tasks)
bool	Solve (IK_QSegment root, std::list< IK_QTask > tasks, const MT_Scalar tolerance, const int max_iterations)

Detailed Description

Author:: Laurence Bourn

Date:: 28/6/2001

Definition at line 52 of file IK_QJacobianSolver.h.

Constructor & Destructor Documentation

IK_QJacobianSolver::IK_QJacobianSolver ( )

Definition at line 39 of file IK_QJacobianSolver.cpp.

References MT_Transform::setIdentity().

IK_QJacobianSolver::~IK_QJacobianSolver ( ) [inline]

Definition at line 56 of file IK_QJacobianSolver.h.

Member Function Documentation

float IK_QJacobianSolver::GetPoleAngle ( ) [inline]

Definition at line 61 of file IK_QJacobianSolver.h.

Referenced by IK_SolverGetPoleAngle().

void IK_QJacobianSolver::SetPoleVectorConstraint	(	IK_QSegment *	tip,
		MT_Vector3 &	goal,
		MT_Vector3 &	polegoal,
		float	poleangle,
		bool	getangle
	)

Definition at line 162 of file IK_QJacobianSolver.cpp.

Referenced by IK_SolverSetPoleVectorConstraint().

bool IK_QJacobianSolver::Setup	(	IK_QSegment *	root,
		std::list< IK_QTask * > &	tasks
	)

Definition at line 85 of file IK_QJacobianSolver.cpp.

References IK_QJacobian::ArmMatrices(), i, MT_fuzzyZero(), IK_QTask::Primary(), IK_QSegment::SetDoFId(), IK_QJacobian::SetDoFWeight(), IK_QTask::SetId(), IK_QTask::SetWeight(), IK_QTask::Size(), and IK_QTask::Weight().

Referenced by IK_Solve().

bool IK_QJacobianSolver::Solve	(	IK_QSegment *	root,
		std::list< IK_QTask * >	tasks,
		const MT_Scalar	tolerance,
		const int	max_iterations
	)

Definition at line 320 of file IK_QJacobianSolver.cpp.

References IK_QJacobian::AngleUpdateNorm(), credits_svn_gen::e, MT_Transform::getBasis(), IK_QJacobian::Invert(), IK_QSegment::PrependBasis(), IK_QJacobian::SubTask(), and IK_QSegment::UpdateTransform().

Referenced by IK_Solve().

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