MIkHandleGroup Class Reference

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Detailed Description

IK handle groups.

Group class for ik handles. Each group has an associated solver and priority. A single chain solver handle group has only one handle in its group.

Examples:

simpleSolverNode.cpp.

#include <MIkHandleGroup.h>

List of all members.

Public Member Functions
	MIkHandleGroup ()
	Default constructor.
	~MIkHandleGroup ()
	The class destructor.
int	priority (MStatus *ReturnStatus=NULL) const
	Return the priority value of this handle group.
int	solverID (MStatus *ReturnStatus=NULL) const
	Return the solver id used by this handle group.
int	solverPriority (MStatus *ReturnStatus=NULL) const
	return the priority of the solver used by this handle group.
MStatus	setPriority (int)
	Set the priority of this handle group.
MStatus	setSolverID (int)
	Set the solver id for this handle group.
bool	checkEffectorAtGoal (MStatus *ReturnStatus=NULL)
	Determines whether the end-effector at the handle(goal) location.
MStatus	solve ()
	Do all ik solving steps for this group.
int	dofCount (MStatus *ReturnStatus=NULL) const
	Return the total number of degrees of freedom of this handle group.
int	handleCount (MStatus *ReturnStatus=NULL) const
	Return the number of handles in the handle list for this group.
MObject	handle (int ith, MStatus *ReturnStatus=NULL)
	Return the ith handle in the handle list for this group.
Static Public Member Functions
static const char *	className ()
	Returns the name of this class.
Friends
class	MPxIkSolver Search for all occurrences
class	MPxIkSolverNode Search for all occurrences

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Constructor & Destructor Documentation

MIkHandleGroup

(

)

Default constructor.

The instance is set to contain no groups.

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Member Function Documentation

int priority

(

MStatus *

ReturnStatus = NULL

)

const

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Return the priority value of this handle group.

Parameters:

[out]

ReturnStatus

Status code

Returns:

The priority

Status Codes:

• MS::kSuccess The method was successful
• MS::kFailure An object error has occurred

int solverID

(

MStatus *

ReturnStatus = NULL

)

const

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Return the solver id used by this handle group.

Parameters:

[out]

ReturnStatus

Status code

Returns:

The solver id for this group

Status Codes:

• MS::kSuccess The method was successful
• MS::kFailure An object error has occurred

int solverPriority

(

MStatus *

ReturnStatus = NULL

)

const

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return the priority of the solver used by this handle group.

Parameters:

[out]

ReturnStatus

Status code

Returns:

The solver priority

Status Codes:

• MS::kSuccess The method was successful
• MS::kFailure An object error has occurred

MStatus setPriority

(

int

priority

)

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Set the priority of this handle group.

Parameters:

[in]

priority

the priority value to set

Returns:

Status code

Status Codes:

• MS::kSuccess The method was successful
• MS::kFailure An object error has occurred

MStatus setSolverID

(

int

id

)

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Set the solver id for this handle group.

Parameters:

[in]

id

the id value to set

Returns:

Status code

Status Codes:

• MS::kSuccess The method was successful
• MS::kFailure An object error has occurred

bool checkEffectorAtGoal

(

MStatus *

ReturnStatus = NULL

)

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Determines whether the end-effector at the handle(goal) location.

Parameters:

[out]

ReturnStatus

Status code

Returns:

• true The end-effector is at the goal location
• false The end-effector is not at the goal location

Status Codes:

• MS::kSuccess The method was successful
• MS::kFailure An object error has occurred

MStatus solve

(

)

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Do all ik solving steps for this group.

Returns:

Status code

Status Codes:

• MS::kSuccess The method was successful
• MS::kFailure An object error has occurred

int dofCount

(

MStatus *

ReturnStatus = NULL

)

const

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Return the total number of degrees of freedom of this handle group.

Parameters:

[out]

ReturnStatus

Status code

Returns:

The total number of dofs

Status Codes:

• MS::kSuccess The method was successful
• MS::kFailure An object error has occurred

int handleCount

(

MStatus *

ReturnStatus = NULL

)

const

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Return the number of handles in the handle list for this group.

Parameters:

[out]

ReturnStatus

Status code

Returns:

The number of handles

Status Codes:

• MS::kSuccess The method was successful
• MS::kFailure An object error has occurred

MObject handle	(	int	ith,
		MStatus *	ReturnStatus = NULL
	)

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Return the ith handle in the handle list for this group.

Parameters:

[in]	ith	the index of the handle
[out]	ReturnStatus	Status code

Returns:

An MObject for the handle

Status Codes:

• MS::kSuccess The method was successful
• MS::kFailure An object error has occurred
• MS::kInvalidParameter An invalid array index was passed

Examples:

simpleSolverNode.cpp.

const char * className

(

)

[static]

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Returns the name of this class.

Returns:

The name of this class.