LinkChain Class Reference
This reference page is linked to from the following overview topics: IK Solvers, IIKChainControl.
Detailed Description
- Description:
- This class is only available in release 5 or
later.
This class abstracts the data structure that the IK system pass to the plugin solver. With it, an IK problem becomes a pure mathematical one to the plugin solver.
A LinkChain starts with a rootLink, followed by a number of 1D link. The rootLink has a whole rotation (c.f. class RootLink in ikHierarch.h), as represented by Euler angles of order XYZ, rotXYZ. These angles may be marked as active or not. The RootLink exposes the whole rotation to allow the solver to handle the start joint specially.
The next 1D link is to be pivoted and aligned at the reference frame that is offset from the rotation of the RootLink by "rigidExtend".
#include <ikhierarchy.h>
Inheritance diagram for LinkChain:
Public Member Functions |
|
| LinkChain () | |
| CoreExport | LinkChain (unsigned lc) |
| virtual CoreExport | ~LinkChain () |
| virtual void * | GetInterface (ULONG i) const |
| const Link & | LinkOf (unsigned i) const |
| Link & | LinkOf (unsigned i) |
| unsigned | LinkCount () const |
| CoreExport int | PreBone (unsigned i) const |
| CoreExport unsigned | Bone (unsigned i) const |
| BaseInterface * | GetIKGoal () |
| void | SetIKGoal (BaseInterface *ikgoal) |
| CoreExport void | ReleaseIKGoal () |
Public Attributes |
|
| Matrix3 | parentMatrix |
| RootLink | rootLink |
Protected Member Functions |
|
| CoreExport void | SetLinkCount (unsigned lc) |
Constructor & Destructor Documentation
| LinkChain | ( | ) | [inline] |
:links(0),linkCount(0) {}
| CoreExport LinkChain | ( | unsigned | lc | ) |
| virtual CoreExport ~LinkChain | ( | ) | [virtual] |
Member Function Documentation
| virtual void* GetInterface | ( | ULONG | i | ) | const [inline, virtual] |
{ UNUSED_PARAM(i); return NULL; }
| const Link& LinkOf | ( | unsigned | i | ) | const [inline] |
- Remarks:
- The i-th 1D link. The next link is pivoted and aligned at
LinkOf(i).LinkMatrix(true) * LinkOf(i-1).LinkMatrix(true) ... * LinkOf(0).LinkMatrix(true) * rootLink.LinkMatrix(true)
This is the extremity after the i-th link. The position of the end effector, in particular, is the extremity of the last link.
{return links[i];}
| Link& LinkOf | ( | unsigned | i | ) | [inline] |
- Remarks:
- Please refer to the above entry for full explanation.
{return links[i];}
| unsigned LinkCount | ( | ) | const [inline] |
- Remarks:
- The number of 1D links following the rootLink.
{ return linkCount; }
| CoreExport int PreBone | ( | unsigned | i | ) | const |
- Remarks:
- A 1D link comprises a degree of freedom, which can be
rotational or prismatic (sliding), and an offset transfromation,
"rigidExtend". If the length of "rigidExtend" is zero, the next 1D
link comes from same joint of this link. PreBone(i) returns the
first link that precedes the i-th link that has non-zero
"rigidExtend." In other words, LinkOf(PreBone(i) + 1) starts a new
joint that includes i-th link as one of its degrees of freedom.
PreBone(i) is always less then i.
| CoreExport unsigned Bone | ( | unsigned | i | ) | const |
- Remarks:
- Bone(i) returns the first index, j, such that j >=
i and LinkOf(j).ZeroLength() false. This is the last link of
the bone that includes i-th link as a degree of freedom.
| BaseInterface* GetIKGoal | ( | ) | [inline] |
- Remarks:
- Returns an interface pointer to the goal. The actual type of
goal can be queried from the interface. (They are documented
separately.)
{ return ikGoal; }
| void SetIKGoal | ( | BaseInterface * | ikgoal | ) | [inline] |
- Remarks:
- They are used to set and release the goal. The plugin solver
should not worried about it. The IK system will use them to the set
and release the goal.
{ ikGoal = ikgoal; }
| CoreExport void ReleaseIKGoal | ( | ) |
- Remarks:
- Please refer to SetIKGoal() for full explanation.
| CoreExport void SetLinkCount | ( | unsigned | lc | ) | [protected] |
Member Data Documentation
- Remarks:
- This LinkChain is originally
cut off from a transformation space quantified by this matrix.
Specifically, it is the matrix that accumulates all transformations
from the root of the world to the position component of the start
joint.
