#include <IK_QTask.h>
Inheritance diagram for IK_QOrientationTask:
Public Member Functions | |
| IK_QOrientationTask (bool primary, const IK_QSegment *segment, const MT_Matrix3x3 &goal) | |
| MT_Scalar | Distance () const |
| void | ComputeJacobian (IK_QJacobian &jacobian) |
Detailed Description
Definition at line 114 of file IK_QTask.h.
Constructor & Destructor Documentation
| IK_QOrientationTask::IK_QOrientationTask | ( | bool | primary, |
| const IK_QSegment * | segment, | ||
| const MT_Matrix3x3 & | goal | ||
| ) |
Definition at line 116 of file IK_QTask.cpp.
Member Function Documentation
| void IK_QOrientationTask::ComputeJacobian | ( | IK_QJacobian & | jacobian | ) | [virtual] |
Implements IK_QTask.
Definition at line 125 of file IK_QTask.cpp.
References IK_QSegment::Axis(), IK_QSegment::DoFId(), MT_Transform::getBasis(), IK_QSegment::GlobalTransform(), i, MT_Vector3::length(), IK_QTask::m_id, IK_QTask::m_segment, IK_QTask::m_size, IK_QTask::m_weight, IK_QSegment::NumberOfDoF(), IK_QSegment::Parent(), IK_QJacobian::SetBetas(), IK_QJacobian::SetDerivatives(), IK_QSegment::Translational(), MT_Matrix3x3::transpose(), and MT_Matrix3x3::transposed().
| MT_Scalar IK_QOrientationTask::Distance | ( | ) | const [inline, virtual] |
Implements IK_QTask.
Definition at line 123 of file IK_QTask.h.
The documentation for this class was generated from the following files: