This reference page is linked to from the following overview topics: IIKChainControl.

Detailed Description

See also:: Class LinkChain, Class RootLink, Class Matrix3, Class Point3, Inverse Kinematics

Description:: This class is available in release 4.0 and later only.

This class represents a single link in the link chain. A Link is a single degree of freedom rotation followed by a rigidExtend. The DOF axis is specified by dofAxis. It is always active.

Data Members:: DofAxis dofAxis;

The variable part of a Link is of one degree of freedom. It can be translational or rotational. One of the following; TransX, TransY, TransZ, RotX, RotY, or RotZ.

float dofValue;

The current value with regard to the degree of freedom.

float initValue;

The initial value.

Point2 limits;

The constrained lower and upper limits. [0] for the lower limit and [1] for the upper limit.

private:

Matrix3 rigidExtend;

The rigid extents.

byte llimited : 1;

Lower limit flag.

byte ulimited : 1;

Upper limit flag.

#include <ikhierarchy.h>

Inheritance diagram for Link:

[legend]

List of all members.

Public Types
enum	DofAxis { TransX, TransY, TransZ, RotX, RotY, RotZ }
Public Member Functions
	Link ()
CoreExport	~Link ()
bool	NullLink () const
bool	ZeroLength () const
bool	LLimited () const
bool	ULimited () const
CoreExport Matrix3	DofMatrix () const
CoreExport Matrix3 &	DofMatrix (Matrix3 &mat) const
CoreExport Matrix3	LinkMatrix (bool include_dof=true) const
CoreExport Matrix3 &	ApplyLinkMatrix (Matrix3 &mat, bool include_dof=true) const
void	SetLLimited (bool s)
void	SetULimited (bool s)
CoreExport void	SetRigidExtend (const Matrix3 &mat)
Public Attributes
DofAxis	dofAxis
float	dofValue
float	initValue
Point2	limits

Member Enumeration Documentation

enum DofAxis

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Enumerator:

TransX	Search for all occurrences
TransY	Search for all occurrences
TransZ	Search for all occurrences
RotX	Search for all occurrences
RotY	Search for all occurrences
RotZ	Search for all occurrences

                 {
      TransX,
      TransY,
      TransZ,
      RotX,
      RotY,
      RotZ
    };

Constructor & Destructor Documentation

Link ( ) [inline]

Remarks:: Constructor.

Default Implementation:: { }

:rigidExtend(0),dofAxis(RotZ){}

CoreExport ~Link ( )

Remarks:: Destructor.

Default Implementation:: { if (rigidExtend) delete rigidExtend; rigidExtend = 0; }

Member Function Documentation

bool NullLink ( ) const [inline]

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Remarks:: This method checks whether the link is a null-link. When TRUE, the rigid extend is logically an identity matrix.

Default Implementation:: { return rigidExtend?false:true; }

{return rigidExtend?false:true;}

bool ZeroLength ( ) const [inline]

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Remarks:: This method checks whether the link has no length. When TRUE, it is a pure rotation matrix.

                                   {
      return NullLink() ? true :
        (rigidExtend->GetIdentFlags() & POS_IDENT) ? true : false; }

bool LLimited ( ) const [inline]

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Remarks:: This method checks whether the degree of freedom is further constrained by lower limits. TRUE if constrained, otherwise FALSE.

Default Implementation:: { return llimited?true:false; }

{ return llimited?true:false; }

bool ULimited ( ) const [inline]

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Remarks:: This method checks whether the degree of freedom is further constrained by upper limits. TRUE if constrained, otherwise FALSE.

Default Implementation:: { return ulimited?true:false; }

{ return ulimited?true:false; }

CoreExport Matrix3 DofMatrix ( ) const

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Remarks:: This mehod returns the matrix contribution by the degrees of freedom. Either it is a pure rotation or a pure translation, of one axis. The following identity holds;

LinkMatrix(true) == LinkMatrix(false) * DofMatrix()

CoreExport Matrix3& DofMatrix ( Matrix3 & mat ) const

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Remarks:: This method allows you to apply a matrix, mat, by the DofMatrix() so that mat = mat * DofMatrix().

Parameters:: Matrix3& mat

The matrix to multiply by the DOF matrix.

Returns:: A reference to the matrix argument.

CoreExport Matrix3 LinkMatrix ( bool include_dof = true ) const

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Remarks:: This method returns the link matrix just defined if the argument is TRUE.

Parameters:: bool include_dof = true

TRUE to return the link matrix, FALSE to return RigidExtend.

Returns:: The link matrix, otherwise it simply returns RigidExtend.

CoreExport Matrix3& ApplyLinkMatrix	(	Matrix3 &	mat,
		bool	include_dof = `true`
	)		const

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Remarks:: This methods applies the LinkMatrix() to the input matrix.

Parameters:: Matrix3& mat

The input matrix.

bool include_dof = true

When applying the DOF part, or rotation part, to a matrix, this will take place one at a time by calling RootLink::RotateByAxis(). If you want to apply the whole link, while already having applied the rotation part, you would need to set this flag to FALSE.