IKDeriv Class Reference

#include <control.h>

Inheritance diagram for IKDeriv:

Public Member Functions
virtual int	NumEndEffectors ()=0
virtual Point3	EndEffectorPos (int index)=0
virtual void	DP (Point3 dp, int index)=0
virtual void	DR (Point3 dr, int index)=0
virtual void	NextDOF ()=0

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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
static UtilExport void *	operator new[] (size_t size, int block_type, const char *filename, int line)
	New operator used to allocate arrays of objects.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
static UtilExport void *	operator new (size_t size, void *placement_ptr)
	Placement new operator.
static UtilExport void	operator delete (void *ptr, void *placement_ptr)
	Placement delete operator.
static UtilExport void *	aligned_malloc (size_t size, size_t alignment)
	Allocates memory on a specified alignment boundary.
static UtilExport void *	aligned_realloc (void *ptr, size_t size, size_t alignment)
	Reallocates memory on a specified alignment boundary.
static UtilExport void	aligned_free (void *ptr)
	Frees a block of memory that was allocated with aligned_malloc/aligned_realloc.

Detailed Description

See also

Class Control.

Description:

This class provides method that a plug-in calls in its implementation of the Control method CompDerivs(). All methods of this class are implemented by the system.

Member Function Documentation

NumEndEffectors()

virtual int NumEndEffectors ( )

pure virtual

Remarks

This method returns the number of end effectors. There may be multiple end effectors if there is branching in the IK chain. For example if the plug-in is a controller controlling a torso there might be two end effectors - the two feet. The plug-ins implementation of CompDerivs() should loop through each end effector and call DP() and DR() for each end effector. Thus this method tells the plug-in how many times it needs to loop.

Returns

The number of end effectors

EndEffectorPos()

virtual Point3 EndEffectorPos ( int  index )

pure virtual

Remarks

If a plug-in needs to know the position of an end effector to calculate its derivative it may call this method to retrieve it. This method is used to return the position of the end effector whose index is passed.

Parameters:

int index

The index of the end effector whose position will be returned.

DP()

virtual void DP ( Point3  dp, int  index  )

pure virtual

Remarks

The plug-in calls this method to specify the derivative of the position of the end effector with respect to the parameter whose index is passed.

Parameters:

Point3 dp

The derivative of the position of the end effector with respect to the parameter.

int index

The index of the end effector.

DR()

virtual void DR ( Point3  dr, int  index  )

pure virtual

Remarks

Allows the plug-in to specify the derivative of the orientation in terms of Euler angle of the end effector with respect to the parameter.

Parameters:

Point3 dr

The derivative of the orientation in terms of Euler angles of the end effector with respect to the parameter.

int index

The index of the end effector.

NextDOF()

virtual void NextDOF ( )

pure virtual

Remarks

This method is called after a plug-in has called the above methods DP() and DR() for one of its parameters and it needs to call them again for the next parameter.