Link Class Reference

#include <ikhierarchy.h>

Class Description

See also

Class LinkChain, Class RootLink, Class Matrix3, Class Point3, Inverse Kinematics

Description:

This class represents a single link in the link chain. A Link is a single degree of freedom rotation followed by a rigidExtend. The DOF axis is specified by dofAxis. It is always active.

Data Members:

DofAxis dofAxis;

The variable part of a Link is of one degree of freedom. It can be translational or rotational. One of the following; TransX, TransY, TransZ, RotX, RotY, or RotZ.

float dofValue;

The current value with regard to the degree of freedom.

float initValue;

The initial value.

Point2 limits;

The constrained lower and upper limits. [0] for the lower limit and [1] for the upper limit.

private:

Matrix3 rigidExtend;

The rigid extents.

byte llimited : 1;

Lower limit flag.

byte ulimited : 1;

Upper limit flag.

Inheritance diagram for Link:

Public Types
enum	DofAxis {   TransX, TransY, TransZ, RotX,   RotY, RotZ }

Public Member Functions
	Link ()
CoreExport	~Link ()
bool	NullLink () const
bool	ZeroLength () const
bool	LLimited () const
bool	ULimited () const
CoreExport Matrix3	DofMatrix () const
CoreExport Matrix3 &	DofMatrix (Matrix3 &mat) const
CoreExport Matrix3	LinkMatrix (bool include_dof=true) const
CoreExport Matrix3 &	ApplyLinkMatrix (Matrix3 &mat, bool include_dof=true) const
void	SetLLimited (bool s)
void	SetULimited (bool s)
CoreExport void	SetRigidExtend (const Matrix3 &mat)

Public Attributes
DofAxis	dofAxis
float	dofValue
float	initValue
Point2	limits

Additional Inherited Members
Static Public Member Functions inherited from MaxHeapOperators
static UtilExport void *	operator new (size_t size)
	Standard new operator used to allocate objects If there is insufficient memory, an exception will be thrown. More...
static UtilExport void *	operator new (size_t size, const std::nothrow_t &e)
	Standard new operator used to allocate objects if there is insufficient memory, NULL will be returned. More...
static UtilExport void *	operator new (size_t size, const char *filename, int line)
	New operator used to allocate objects that takes the filename and line number where the new was called If there is insufficient memory, an exception will be thrown. More...
static UtilExport void *	operator new (size_t size, int block_type, const char *filename, int line)
	New operator used to allocate objects that takes the type of memory, filename and line number where the new was called If there is insufficient memory, an exception will be thrown. More...
static UtilExport void *	operator new (size_t size, const std::nothrow_t &e, const char *filename, int line)
	New operator used to allocate objects that takes the filename and line number where the new was called If there is insufficient memory, NULL will be returned. More...
static UtilExport void *	operator new (size_t size, unsigned long flags)
	New operator used to allocate objects that takes extra flags to specify special operations If there is insufficient memory, an exception will be thrown. More...
static UtilExport void *	operator new (size_t size, const std::nothrow_t &e, unsigned long flags)
	New operator used to allocate objects that takes extra flags to specify special operations If there is insufficient memory, NULL will be returned. More...
static UtilExport void *	operator new[] (size_t size)
	New operator used to allocate arrays of objects If there is insufficient memory, an exception will be thrown. More...
static UtilExport void *	operator new[] (size_t size, const std::nothrow_t &e)
	New operator used to allocate arrays of objects If there is insufficient memory, NULL will be returned. More...
static UtilExport void *	operator new[] (size_t size, const char *filename, int line)
	New operator used to allocate arrays of objects If there is insufficient memory, an exception will be thrown. More...
static UtilExport void *	operator new[] (size_t size, int block_type, const char *filename, int line)
	New operator used to allocate arrays of objects. More...
static UtilExport void *	operator new[] (size_t size, const std::nothrow_t &e, const char *filename, int line)
	New operator used to allocate arrays of objects If there is insufficient memory, NULL will be returned. More...
static UtilExport void *	operator new[] (size_t size, unsigned long flags)
	New operator used to allocate arrays of objects If there is insufficient memory, an exception will be thrown. More...
static UtilExport void *	operator new[] (size_t size, const std::nothrow_t &e, unsigned long flags)
	New operator used to allocate arrays of objects If there is insufficient memory, NULL will be returned. More...
static UtilExport void	operator delete (void *ptr)
	Standard delete operator used to deallocate an object If the pointer is invalid, an exception will be thrown. More...
static UtilExport void	operator delete (void *ptr, const std::nothrow_t &e)
	Standard delete operator used to deallocate an object If the pointer is invalid, nothing will happen. More...
static UtilExport void	operator delete (void *ptr, const char *filename, int line)
	Delete operator used to deallocate an object that takes the filename and line number where the delete was called If the pointer is invalid, an exception will be thrown. More...
static UtilExport void	operator delete (void *ptr, int block_type, const char *filename, int line)
	Delete operator used to deallocate an object that takes the type of memory, filename and line number where the delete was called If the pointer is invalid, an exception will be thrown. More...
static UtilExport void	operator delete (void *ptr, const std::nothrow_t &e, const char *filename, int line)
	Delete operator used to deallocate an object that takes the filename and line number where the delete was called If the pointer is invalid, nothing will happen. More...
static UtilExport void	operator delete (void *ptr, unsigned long flags)
	Delete operator used to deallocate an object that takes extra flags to specify special operations If the pointer is invalid, an exception will be thrown. More...
static UtilExport void	operator delete (void *ptr, const std::nothrow_t &e, unsigned long flags)
	Delete operator used to deallocate an object that takes extra flags to specify special operations If the pointer is invalid, nothing will happen. More...
static UtilExport void	operator delete[] (void *ptr)
	Standard delete operator used to deallocate an array of objects If the pointer is invalid, an exception will be thrown. More...
static UtilExport void	operator delete[] (void *ptr, const std::nothrow_t &e)
	Standard delete operator used to deallocate an array of objects If the pointer is invalid, nothing will happen. More...
static UtilExport void	operator delete[] (void *ptr, const char *filename, int line)
	Delete operator used to deallocate an array of objects that takes the filename and line number where the delete was called If the pointer is invalid, an exception will be thrown. More...
static UtilExport void	operator delete[] (void *ptr, int block_type, const char *filename, int line)
	Delete operator used to deallocate an array of objects that takes the type of memory, filename and line number where the delete was called If the pointer is invalid, an exception will be thrown. More...
static UtilExport void	operator delete[] (void *ptr, const std::nothrow_t &e, const char *filename, int line)
	Delete operator used to deallocate an array of objects that takes the filename and line number where the delete was called If the pointer is invalid, nothing will happen. More...
static UtilExport void	operator delete[] (void *ptr, unsigned long flags)
	Delete operator used to deallocate an array of objects that takes extra flags to specify special operations If the pointer is invalid, an exception will be thrown. More...
static UtilExport void	operator delete[] (void *ptr, const std::nothrow_t &e, unsigned long flags)
	Delete operator used to deallocate an array of objects that takes extra flags to specify special operations If the pointer is invalid, an exception will be thrown. More...
static UtilExport void *	operator new (size_t size, void *placement_ptr)
	Placement new operator. More...
static UtilExport void	operator delete (void *ptr, void *placement_ptr)
	Placement delete operator. More...
static UtilExport void *	aligned_malloc (size_t size, size_t alignment)
	Allocates memory on a specified alignment boundary. More...
static UtilExport void *	aligned_realloc (void *ptr, size_t size, size_t alignment)
	Reallocates memory on a specified alignment boundary. More...
static UtilExport void	aligned_free (void *ptr)
	Frees a block of memory that was allocated with aligned_malloc/aligned_realloc. More...

Member Enumeration Documentation

enum DofAxis

Enumerator
TransX
TransY
TransZ
RotX
RotY
RotZ

                 {
      TransX,
      TransY,
      TransZ,
      RotX,
      RotY,
      RotZ
    };

Constructor & Destructor Documentation

Link ( )

inline

Remarks

Constructor.

Default Implementation:

{ }

:rigidExtend(0),dofAxis(RotZ){}

CoreExport ~Link

(

)

Remarks

Destructor.

Default Implementation:

{ if (rigidExtend) delete rigidExtend; rigidExtend = 0; }

Member Function Documentation

bool NullLink ( ) const

inline

Remarks

This method checks whether the link is a null-link. When TRUE, the rigid extend is logically an identity matrix.

Default Implementation:

{ return rigidExtend?false:true; }

{return rigidExtend?false:true;}

bool ZeroLength ( ) const

inline

Remarks

This method checks whether the link has no length. When TRUE, it is a pure rotation matrix.

                                   {
      return NullLink() ? true :
        (rigidExtend->GetIdentFlags() & POS_IDENT) ? true : false; }

bool LLimited ( ) const

inline

Remarks

This method checks whether the degree of freedom is further constrained by lower limits. TRUE if constrained, otherwise FALSE.

Default Implementation:

{ return llimited?true:false; }

{ return llimited?true:false; }

bool ULimited ( ) const

inline

Remarks

This method checks whether the degree of freedom is further constrained by upper limits. TRUE if constrained, otherwise FALSE.

Default Implementation:

{ return ulimited?true:false; }

{ return ulimited?true:false; }

CoreExport Matrix3 DofMatrix

(

)

const

Remarks

This mehod returns the matrix contribution by the degrees of freedom. Either it is a pure rotation or a pure translation, of one axis. The following identity holds;

LinkMatrix(true) == LinkMatrix(false) * DofMatrix()

CoreExport Matrix3& DofMatrix

(

Matrix3 &

mat

)

const

Remarks

This method allows you to apply a matrix, mat, by the DofMatrix() so that mat = mat * DofMatrix().

Parameters:

Matrix3& mat

The matrix to multiply by the DOF matrix.

Returns

A reference to the matrix argument.

CoreExport Matrix3 LinkMatrix

(

bool

include_dof = true

)

const

Remarks

This method returns the link matrix just defined if the argument is TRUE.

Parameters:

bool include_dof = true

TRUE to return the link matrix, FALSE to return RigidExtend.

Returns

The link matrix, otherwise it simply returns RigidExtend.

CoreExport Matrix3& ApplyLinkMatrix	(	Matrix3 &	mat,
		bool	include_dof = true
	)		const

Remarks

This methods applies the LinkMatrix() to the input matrix.

Parameters:

Matrix3& mat

The input matrix.

bool include_dof = true

When applying the DOF part, or rotation part, to a matrix, this will take place one at a time by calling RootLink::RotateByAxis(). If you want to apply the whole link, while already having applied the rotation part, you would need to set this flag to FALSE.

Returns

The reference to the input matrix, mat.

void SetLLimited ( bool  s )

inline

Remarks

This method allows you to activate or deactivate the lower limits.

Parameters:

bool s

TRUE to activate, FALSE to deactivate.

{ llimited = s?1:0; }

void SetULimited ( bool  s )

inline

Remarks

This method allows you to activate or deactivate the upper limits.

Parameters:

bool s

TRUE to activate, FALSE to deactivate.

{ ulimited = s?1:0; }

CoreExport void SetRigidExtend

(

const Matrix3 &

mat

)

Remarks

This method allows you to set the RigidEtend matrix.

Parameters:

const Matrix3& mat

The rigid extend matrix you wish to set.

Member Data Documentation

DofAxis dofAxis

float dofValue

float initValue

Point2 limits