Blender
V3.3
|
#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) |
Definition at line 12 of file IK_QJacobian.h.
IK_QJacobian::IK_QJacobian | ( | ) |
Definition at line 10 of file IK_QJacobian.cpp.
IK_QJacobian::~IK_QJacobian | ( | ) |
Definition at line 14 of file IK_QJacobian.cpp.
double IK_QJacobian::AngleUpdate | ( | int | dof_id | ) | const |
Definition at line 386 of file IK_QJacobian.cpp.
Referenced by SubTask(), IK_QSphericalSegment::UpdateAngle(), IK_QRevoluteSegment::UpdateAngle(), IK_QSwingSegment::UpdateAngle(), IK_QElbowSegment::UpdateAngle(), and IK_QTranslateSegment::UpdateAngle().
double IK_QJacobian::AngleUpdateNorm | ( | ) | const |
Definition at line 391 of file IK_QJacobian.cpp.
References fabs().
Referenced by IK_QJacobianSolver::Solve().
void IK_QJacobian::ArmMatrices | ( | int | dof, |
int | task_size | ||
) |
Definition at line 18 of file IK_QJacobian.cpp.
Referenced by IK_QJacobianSolver::Setup().
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().
void IK_QJacobian::Invert | ( | ) |
Definition at line 87 of file IK_QJacobian.cpp.
Referenced by IK_QJacobianSolver::Solve(), and SubTask().
Definition at line 373 of file IK_QJacobian.cpp.
Referenced by IK_QSphericalSegment::Lock(), IK_QRevoluteSegment::Lock(), IK_QSwingSegment::Lock(), IK_QElbowSegment::Lock(), and IK_QTranslateSegment::Lock().
void IK_QJacobian::Restrict | ( | VectorXd & | d_theta, |
MatrixXd & | nullspace | ||
) |
Definition at line 167 of file IK_QJacobian.cpp.
Referenced by SubTask().
void IK_QJacobian::SetBetas | ( | int | id, |
int | size, | ||
const Vector3d & | v | ||
) |
Definition at line 71 of file IK_QJacobian.cpp.
References v.
Referenced by IK_QPositionTask::ComputeJacobian(), IK_QOrientationTask::ComputeJacobian(), and IK_QCenterOfMassTask::ComputeJacobian().
Definition at line 78 of file IK_QJacobian.cpp.
References v.
Referenced by IK_QPositionTask::ComputeJacobian(), and IK_QOrientationTask::ComputeJacobian().
Definition at line 405 of file IK_QJacobian.cpp.
References sqrt().
Referenced by IK_QJacobianSolver::Setup().
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().