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Blender V2.61 - r43446
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Blender V2.61 - r43446
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#include <IK_QJacobian.h>
Public Types | |
| typedef TNT::Matrix< MT_Scalar > | TMatrix |
| typedef TNT::Vector< MT_Scalar > | TVector |
Public Member Functions | |
| IK_QJacobian () | |
| ~IK_QJacobian () | |
| void | ArmMatrices (int dof, int task_size) |
| void | SetDoFWeight (int dof, MT_Scalar weight) |
| void | SetBetas (int id, int size, const MT_Vector3 &v) |
| void | SetDerivatives (int id, int dof_id, const MT_Vector3 &v, MT_Scalar norm_weight) |
| void | Invert () |
| MT_Scalar | AngleUpdate (int dof_id) const |
| MT_Scalar | AngleUpdateNorm () const |
| void | Lock (int dof_id, MT_Scalar delta) |
| bool | ComputeNullProjection () |
| void | Restrict (TVector &d_theta, TMatrix &null) |
| void | SubTask (IK_QJacobian &jacobian) |
Definition at line 43 of file IK_QJacobian.h.
| typedef TNT::Matrix<MT_Scalar> IK_QJacobian::TMatrix |
Definition at line 46 of file IK_QJacobian.h.
| typedef TNT::Vector<MT_Scalar> IK_QJacobian::TVector |
Definition at line 47 of file IK_QJacobian.h.
| IK_QJacobian::IK_QJacobian | ( | ) |
Definition at line 37 of file IK_QJacobian.cpp.
| IK_QJacobian::~IK_QJacobian | ( | ) |
Definition at line 42 of file IK_QJacobian.cpp.
| MT_Scalar IK_QJacobian::AngleUpdate | ( | int | dof_id | ) | const |
Definition at line 423 of file IK_QJacobian.cpp.
Referenced by SubTask(), IK_QSwingSegment::UpdateAngle(), IK_QTranslateSegment::UpdateAngle(), IK_QSphericalSegment::UpdateAngle(), IK_QRevoluteSegment::UpdateAngle(), and IK_QElbowSegment::UpdateAngle().
| MT_Scalar IK_QJacobian::AngleUpdateNorm | ( | ) | const |
Definition at line 428 of file IK_QJacobian.cpp.
References i, MT_abs(), and TNT::Vector< T >::size().
Referenced by IK_QJacobianSolver::Solve().
| void IK_QJacobian::ArmMatrices | ( | int | dof, |
| int | task_size | ||
| ) |
Definition at line 46 of file IK_QJacobian.cpp.
References TNT::Matrix< T >::newsize(), and TNT::Vector< T >::newsize().
Referenced by IK_QJacobianSolver::Setup().
| bool IK_QJacobian::ComputeNullProjection | ( | ) |
Definition at line 144 of file IK_QJacobian.cpp.
References credits_svn_gen::e, KDL::epsilon, i, TNT::matmult(), TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), TNT::Vector< T >::size(), and transpose().
Referenced by SubTask().
| void IK_QJacobian::Invert | ( | ) |
Definition at line 123 of file IK_QJacobian.cpp.
References TNT::SVD(), and transpose().
Referenced by IK_QJacobianSolver::Solve(), and SubTask().
| void IK_QJacobian::Lock | ( | int | dof_id, |
| MT_Scalar | delta | ||
| ) |
Definition at line 410 of file IK_QJacobian.cpp.
References i.
Referenced by IK_QRevoluteSegment::Lock(), IK_QTranslateSegment::Lock(), IK_QElbowSegment::Lock(), IK_QSphericalSegment::Lock(), and IK_QSwingSegment::Lock().
Definition at line 200 of file IK_QJacobian.cpp.
References TNT::matmult(), and TNT::Vector< T >::size().
Referenced by SubTask().
| void IK_QJacobian::SetBetas | ( | int | id, |
| int | size, | ||
| const MT_Vector3 & | v | ||
| ) |
Definition at line 107 of file IK_QJacobian.cpp.
References MT_Tuple3::x(), MT_Tuple3::y(), and MT_Tuple3::z().
Referenced by IK_QCenterOfMassTask::ComputeJacobian(), IK_QOrientationTask::ComputeJacobian(), and IK_QPositionTask::ComputeJacobian().
| void IK_QJacobian::SetDerivatives | ( | int | id, |
| int | dof_id, | ||
| const MT_Vector3 & | v, | ||
| MT_Scalar | norm_weight | ||
| ) |
Definition at line 114 of file IK_QJacobian.cpp.
References MT_Tuple3::x(), MT_Tuple3::y(), and MT_Tuple3::z().
Referenced by IK_QOrientationTask::ComputeJacobian(), and IK_QPositionTask::ComputeJacobian().
| void IK_QJacobian::SetDoFWeight | ( | int | dof, |
| MT_Scalar | weight | ||
| ) |
Definition at line 442 of file IK_QJacobian.cpp.
References sqrt().
Referenced by IK_QJacobianSolver::Setup().
| void IK_QJacobian::SubTask | ( | IK_QJacobian & | jacobian | ) |
Definition at line 181 of file IK_QJacobian.cpp.
References AngleUpdate(), ComputeNullProjection(), i, Invert(), Restrict(), and TNT::Vector< T >::size().
Referenced by IK_QJacobianSolver::Solve().