#include <IK_QTask.h>
Inheritance diagram for IK_QCenterOfMassTask:
Public Member Functions | |
| IK_QCenterOfMassTask (bool primary, const IK_QSegment *segment, const MT_Vector3 ¢er) | |
| void | ComputeJacobian (IK_QJacobian &jacobian) |
| MT_Scalar | Distance () const |
| void | Scale (float scale) |
Detailed Description
Definition at line 132 of file IK_QTask.h.
Constructor & Destructor Documentation
| IK_QCenterOfMassTask::IK_QCenterOfMassTask | ( | bool | primary, |
| const IK_QSegment * | segment, | ||
| const MT_Vector3 & | center | ||
| ) |
Definition at line 161 of file IK_QTask.cpp.
References IK_QTask::m_segment, and MT_fuzzyZero().
Member Function Documentation
| void IK_QCenterOfMassTask::ComputeJacobian | ( | IK_QJacobian & | jacobian | ) | [virtual] |
Implements IK_QTask.
Definition at line 217 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 237 of file IK_QTask.cpp.
| void IK_QCenterOfMassTask::Scale | ( | float | scale | ) | [inline, virtual] |
Reimplemented from IK_QTask.
Definition at line 145 of file IK_QTask.h.
The documentation for this class was generated from the following files: