IHIIKGoal Class Reference
Detailed Description
- See also:
- : Class
IIKGoal
class IHIIKGoal: public IIKGoal
- Description:
- This class is only available in release 5 or later. This
is an interface to a specific type of IK goal, the HI IK goal. The
interface id is given the constant kHIIKGoalID.
The plugin solver that declares its goal type, with IKSolver::ExpectGoal(), as kHIIKGoalID should expect this type of goal from LinkChain::GetIKGoal(). To get the interface pointer, one can
IHIIKGoal *ikgoal = (IHIIKGoal*)linkChain->GetIKGoal()->GetInterface(kHIIKGoalID);
#include <ikhierarchy.h>
Inheritance diagram for IHIIKGoal:
Public Member Functions |
|
| BaseInterface * | GetInterface (Interface_ID id) |
| Interface_ID | GetID () |
| virtual bool | UseVHTarget () const =0 |
| virtual float | SwivelAngle () const =0 |
| virtual const Point3 & | VHTarget () const =0 |
| virtual SAParentSpace | SwivelAngleParent () const =0 |
| virtual const Point3 & | ChainNormal () const =0 |
| virtual const ZeroPlaneMap * | DefaultZeroMap () const =0 |
| virtual Matrix3 & | Goal ()=0 |
Member Function Documentation
| BaseInterface* GetInterface | ( | Interface_ID | id | ) | [inline, virtual] |
- Remarks:
- Returns a pointer of type BaseInterface for the interface IIKGoal
- Parameters:
- Interface_ID id
Input id = kGoalID(<b>0x53937e2, 0x2be92941)
- Remarks:
- Returns, Interface_ID kGoalID(0x53937e2,
0x2be92941)
Reimplemented from IIKGoal.
{ if (id == kHIIKGoalID) return this; else return IIKGoal::GetInterface(id); }
| Interface_ID GetID | ( | ) | [inline, virtual] |
- Remarks:
- Returns, Interface_ID kGoalID(0x53937e2,
0x2be92941)
Reimplemented from IIKGoal.
{ return kHIIKGoalID; }
| virtual bool UseVHTarget | ( | ) | const [pure virtual] |
- Remarks:
- UseVHTarget() tells whether the swivel angle is determined (or computed) by a point in space to that the solver plane is supposed to pass, or is simply provided by a number literally. If it is true, the point is obtained from VHTarget(). Otherwise, the angle is obtained from SwivelAngle().
| virtual float SwivelAngle | ( | ) | const [pure virtual] |
- Remarks:
- See explanation in UseVHTarget.
| virtual const Point3& VHTarget | ( | ) | const [pure virtual] |
- Remarks:
- See explanation in UseVHTarget.
| virtual SAParentSpace SwivelAngleParent | ( | ) | const [pure virtual] |
- Remarks:
- Whether the swivel angle is interpreted in the space in which the start joint lies, or in the space of the goal.
| virtual const Point3& ChainNormal | ( | ) | const [pure virtual] |
- Remarks:
- The normal of the solver plane at the preferred pose, represented in the parent space of the root joint. It serves as the zero reference for the swivel angle.
| virtual const ZeroPlaneMap* DefaultZeroMap | ( | ) | const [pure virtual] |
- Remarks:
- Returns the (IK) system provided default for the Zero Plane Map.
| virtual Matrix3& Goal | ( | ) | [pure virtual] |
- Remarks:
- The goal for the end effector.
