IK handle groups.
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#include <MIkHandleGroup.h>
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class | MPxIkSolver |
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class | MPxIkSolverNode |
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IK handle groups.
Group class for ik handles. Each group has an associated solver and priority. A single chain solver handle group has only one handle in its group.
- Examples:
- ik2Bsolver/ik2Bsolver.cpp, and simpleSolverNode/simpleSolverNode.cpp.
Default constructor.
The instance is set to contain no groups.
int priority |
( |
MStatus * |
ReturnStatus = NULL | ) |
const |
Return the priority value of this handle group.
- Parameters
-
[out] | ReturnStatus | Status code |
- Returns
- The priority
- Status Codes:
- MS::kSuccess The method was successful
- MS::kFailure An object error has occurred
int solverID |
( |
MStatus * |
ReturnStatus = NULL | ) |
const |
Return the solver id used by this handle group.
- Parameters
-
[out] | ReturnStatus | Status code |
- Returns
- The solver id for this group
- Status Codes:
- MS::kSuccess The method was successful
- MS::kFailure An object error has occurred
int solverPriority |
( |
MStatus * |
ReturnStatus = NULL | ) |
const |
return the priority of the solver used by this handle group.
- Parameters
-
[out] | ReturnStatus | Status code |
- Returns
- The solver priority
- Status Codes:
- MS::kSuccess The method was successful
- MS::kFailure An object error has occurred
MStatus setPriority |
( |
int |
priority | ) |
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Set the priority of this handle group.
- Parameters
-
[in] | priority | the priority value to set |
- Returns
- Status code
- Status Codes:
- MS::kSuccess The method was successful
- MS::kFailure An object error has occurred
Set the solver id for this handle group.
- Parameters
-
[in] | id | the id value to set |
- Returns
- Status code
- Status Codes:
- MS::kSuccess The method was successful
- MS::kFailure An object error has occurred
bool checkEffectorAtGoal |
( |
MStatus * |
ReturnStatus = NULL | ) |
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Determines whether the end-effector at the handle(goal) location.
- Parameters
-
[out] | ReturnStatus | Status code |
- Returns
- true The end-effector is at the goal location
- false The end-effector is not at the goal location
- Status Codes:
- MS::kSuccess The method was successful
- MS::kFailure An object error has occurred
Do all ik solving steps for this group.
- Returns
- Status code
- Status Codes:
- MS::kSuccess The method was successful
- MS::kFailure An object error has occurred
int dofCount |
( |
MStatus * |
ReturnStatus = NULL | ) |
const |
Return the total number of degrees of freedom of this handle group.
- Parameters
-
[out] | ReturnStatus | Status code |
- Returns
- The total number of dofs
- Status Codes:
- MS::kSuccess The method was successful
- MS::kFailure An object error has occurred
int handleCount |
( |
MStatus * |
ReturnStatus = NULL | ) |
const |
Return the number of handles in the handle list for this group.
- Parameters
-
[out] | ReturnStatus | Status code |
- Returns
- The number of handles
- Status Codes:
- MS::kSuccess The method was successful
- MS::kFailure An object error has occurred
Return the ith handle in the handle list for this group.
- Parameters
-
[in] | ith | the index of the handle |
[out] | ReturnStatus | Status code |
- Returns
- An MObject for the handle
- Status Codes:
- MS::kSuccess The method was successful
- MS::kFailure An object error has occurred
- MS::kInvalidParameter An invalid array index was passed
- Examples:
- ik2Bsolver/ik2Bsolver.cpp, and simpleSolverNode/simpleSolverNode.cpp.
const char * className |
( |
| ) |
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static |
Returns the name of this class.
- Returns
- The name of this class.
The documentation for this class was generated from the following files:
- MIkHandleGroup.h
- MIkHandleGroup.cpp