38 bool addConstraintSet(
const std::string& name,
ConstraintSet*
task,
const std::string& object1,
const std::string& object2,
const std::string& ee1=
"",
const std::string& ee2=
"");
42 bool update(
double timestamp,
double timestep,
unsigned int numsubstep=1,
bool reiterate=
false,
bool cache=
true,
bool interpolate=
true);
45 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
48 e_matrix m_A,m_B,m_Atemp,m_Wq,m_Jf,m_Jq,m_Ju,m_Cf,m_Cq,m_Jf_inv;
54 unsigned int m_ncTotal,m_nqTotal,m_nuTotal,m_nsets;
55 std::vector<bool> m_ytask;
64 unsigned int baseFrameIndex;
65 Range constraintrange;
67 Range coordinaterange;
71 object(_object),base(_base),baseFrameIndex(_baseFrameIndex),constraintrange(nc_range),jointrange(nq_range),coordinaterange(nu_range)
74 typedef std::map<std::string,Object_struct*> ObjectMap;
76 struct ConstraintSet_struct{
78 ObjectMap::iterator object1;
79 ObjectMap::iterator object2;
80 Range constraintrange;
82 unsigned int ee1index;
83 unsigned int ee2index;
84 ConstraintSet_struct(ConstraintSet* _task,
85 ObjectMap::iterator _object1,
unsigned int _ee1index,
86 ObjectMap::iterator _object2,
unsigned int _ee2index,
87 Range nc_range,Range coord_range):
89 object1(_object1),object2(_object2),
90 constraintrange(nc_range),featurerange(coord_range),
91 ee1index(_ee1index), ee2index(_ee2index)
94 typedef std::map<std::string,ConstraintSet_struct*> ConstraintMap;
97 ConstraintMap constraints;
99 static bool getConstraintPose(ConstraintSet* constraint,
void *_param,
KDL::Frame& _pose);
represents a frame transformation in 3D space (rotation + translation)
bool addSolver(Solver *_solver)
bool setParam(SceneParam paramId, double value)
bool addConstraintSet(const std::string &name, ConstraintSet *task, const std::string &object1, const std::string &object2, const std::string &ee1="", const std::string &ee2="")
bool update(double timestamp, double timestep, unsigned int numsubstep=1, bool reiterate=false, bool cache=true, bool interpolate=true)
bool addCache(Cache *_cache)
bool addObject(const std::string &name, Object *object, UncontrolledObject *base=&Object::world, const std::string &baseFrame="")
struct blender::compositor::@179::@181 task
void interpolate(const Span< T > src, const Span< int > indices, const Span< float > factors, MutableSpan< T > dst)