Blender  V3.3
Public Member Functions | List of all members
IK_QJacobian Class Reference

#include <IK_QJacobian.h>

Public Member Functions

 IK_QJacobian ()
 
 ~IK_QJacobian ()
 
void ArmMatrices (int dof, int task_size)
 
void SetDoFWeight (int dof, double weight)
 
void SetBetas (int id, int size, const Vector3d &v)
 
void SetDerivatives (int id, int dof_id, const Vector3d &v, double norm_weight)
 
void Invert ()
 
double AngleUpdate (int dof_id) const
 
double AngleUpdateNorm () const
 
void Lock (int dof_id, double delta)
 
bool ComputeNullProjection ()
 
void Restrict (VectorXd &d_theta, MatrixXd &nullspace)
 
void SubTask (IK_QJacobian &jacobian)
 

Detailed Description

Definition at line 12 of file IK_QJacobian.h.

Constructor & Destructor Documentation

◆ IK_QJacobian()

IK_QJacobian::IK_QJacobian ( )

Definition at line 10 of file IK_QJacobian.cpp.

◆ ~IK_QJacobian()

IK_QJacobian::~IK_QJacobian ( )

Definition at line 14 of file IK_QJacobian.cpp.

Member Function Documentation

◆ AngleUpdate()

double IK_QJacobian::AngleUpdate ( int  dof_id) const

◆ AngleUpdateNorm()

double IK_QJacobian::AngleUpdateNorm ( ) const

Definition at line 391 of file IK_QJacobian.cpp.

References fabs().

Referenced by IK_QJacobianSolver::Solve().

◆ ArmMatrices()

void IK_QJacobian::ArmMatrices ( int  dof,
int  task_size 
)

Definition at line 18 of file IK_QJacobian.cpp.

Referenced by IK_QJacobianSolver::Setup().

◆ ComputeNullProjection()

bool IK_QJacobian::ComputeNullProjection ( )

Definition at line 113 of file IK_QJacobian.cpp.

References usdtokens::b(), e, and blender::robust_pred::epsilon.

Referenced by SubTask().

◆ Invert()

void IK_QJacobian::Invert ( )

Definition at line 87 of file IK_QJacobian.cpp.

Referenced by IK_QJacobianSolver::Solve(), and SubTask().

◆ Lock()

void IK_QJacobian::Lock ( int  dof_id,
double  delta 
)

◆ Restrict()

void IK_QJacobian::Restrict ( VectorXd &  d_theta,
MatrixXd &  nullspace 
)

Definition at line 167 of file IK_QJacobian.cpp.

Referenced by SubTask().

◆ SetBetas()

void IK_QJacobian::SetBetas ( int  id,
int  size,
const Vector3d &  v 
)

◆ SetDerivatives()

void IK_QJacobian::SetDerivatives ( int  id,
int  dof_id,
const Vector3d &  v,
double  norm_weight 
)

Definition at line 78 of file IK_QJacobian.cpp.

References v.

Referenced by IK_QPositionTask::ComputeJacobian(), and IK_QOrientationTask::ComputeJacobian().

◆ SetDoFWeight()

void IK_QJacobian::SetDoFWeight ( int  dof,
double  weight 
)

Definition at line 405 of file IK_QJacobian.cpp.

References sqrt().

Referenced by IK_QJacobianSolver::Setup().

◆ SubTask()

void IK_QJacobian::SubTask ( IK_QJacobian jacobian)

Definition at line 148 of file IK_QJacobian.cpp.

References AngleUpdate(), ComputeNullProjection(), Invert(), and Restrict().

Referenced by IK_QJacobianSolver::Solve().


The documentation for this class was generated from the following files: