IK_InvKinBase Class Reference

#include <planners/inversekin/IK_InvKinBase.h>

Inherits PL_Boolean_Output, and PL_OpenGL.

Inherited by IK_ACA [virtual], IK_Jacobian [virtual], and PL_ATACE.

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Public Member Functions
	IK_InvKinBase ()
virtual	~IK_InvKinBase ()
virtual bool	DrawExplicit () const
virtual void	DrawUniversePortion () const
virtual bool	Load (const char *filename)
virtual bool	Plan ()
virtual bool	Save (const char *filename) const
void	SetGoalFrame (const Matrix4x4 &newframe)
void	SetGoalFrame (const Configuration &config)
void	SetGoalFrame (const VectorN &dofVector)
void	SetGoalFrame (const double &x, const double &y, const double &z, const double &roll, const double &pitch, const double &yaw)
void	GetRotAngles (const Matrix4x4 &frame, double &x, double &y, double &z, double &roll, double &pitch, double &yaw) const
VectorN	GetRotVector (const Matrix4x4 &frame) const
Matrix4x4	GetTransformFrame (const VectorN &dofVector) const
Matrix4x4	GetGoalFrame () const
VectorN	GetGoalFrameVector () const
Matrix4x4	GetToolFrame (const Configuration &config) const
virtual void	CopySettings (PlannerBase *original)
Static Public Member Functions
static Matrix4x4	GetTransformFrame (const double &x, const double &y, const double &z, const double &roll, const double &pitch, const double &yaw)
Protected Member Functions
virtual void	AssignGoalConfig (const Configuration &config)
virtual void	InitNewSearch ()
Protected Attributes
Matrix4x4	goalFrame
int	m_GoalFrameIndex

Detailed Description

Definition at line 30 of file IK_InvKinBase.h.

Constructor & Destructor Documentation

IK_InvKinBase::IK_InvKinBase ( )

Definition at line 40 of file IK_InvKinBase.cpp.

IK_InvKinBase::~IK_InvKinBase ( ) [virtual]

Definition at line 47 of file IK_InvKinBase.cpp.

Member Function Documentation

void IK_InvKinBase::AssignGoalConfig ( const Configuration & config ) [protected, virtual]

Reimplemented in IK_ACA.
Definition at line 193 of file IK_InvKinBase.cpp.
References PlannerBase::SetGoalConfig().
Referenced by IK_ACA::AssignGoalConfig().
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void IK_InvKinBase::CopySettings ( PlannerBase * original ) [virtual]

Reimplemented from PlannerBase.
Reimplemented in IK_ACA.
Definition at line 170 of file IK_InvKinBase.cpp.
References goalFrame.
Referenced by IK_ACA::CopySettings(), and ServerBase::RefreshPlanner().

bool IK_InvKinBase::DrawExplicit ( ) const [virtual]

Reimplemented from PL_OpenGL.
Reimplemented in PL_ATACE, and IK_ACA.
Definition at line 58 of file IK_InvKinBase.cpp.

void IK_InvKinBase::DrawUniversePortion ( ) const [virtual]

Reimplemented from PL_OpenGL.
Definition at line 69 of file IK_InvKinBase.cpp.
References GL_Frame::GLDraw(), and goalFrame.
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Matrix4x4 IK_InvKinBase::GetGoalFrame ( ) const

Definition at line 424 of file IK_InvKinBase.cpp.
References goalFrame.

VectorN IK_InvKinBase::GetGoalFrameVector ( ) const

Definition at line 437 of file IK_InvKinBase.cpp.
References FRAMEDOF, GetRotAngles(), goalFrame, and VectorN::SetLength().
Referenced by IK_ACA::SaveContents().
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void IK_InvKinBase::GetRotAngles ( const Matrix4x4 & frame,

double & x,

double & y,

double & z,

double & roll,

double & pitch,

double & yaw

) const

Definition at line 354 of file IK_InvKinBase.cpp.
References Rad2Deg(), and Sqr().
Referenced by GetGoalFrameVector(), and GetRotVector().
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VectorN IK_InvKinBase::GetRotVector ( const Matrix4x4 & frame ) const

Definition at line 405 of file IK_InvKinBase.cpp.
References FRAMEDOF, GetRotAngles(), and VectorN::SetLength().
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Matrix4x4 IK_InvKinBase::GetToolFrame ( const Configuration & config ) const

Reimplemented in PL_ATACE.
Definition at line 456 of file IK_InvKinBase.cpp.
References PL_HasCollisionDetector::collisionDetector, Configuration::DOF(), CD_BasicStyle::GetFrameManager(), CD_BasicStyle::JointFrameNum(), and CD_BasicStyle::SetConfiguration().
Referenced by IK_ACA::GetNextConfig(), IK_ACA::InitBestParams(), IK_ACA::MinimizeDistance(), IK_ACA::Search(), IK_ACA::Search1(), and SetGoalFrame().
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Matrix4x4 IK_InvKinBase::GetTransformFrame ( const VectorN & dofVector ) const

Definition at line 282 of file IK_InvKinBase.cpp.
References FRAMEDOF, GetTransformFrame(), and VectorN::Length().
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Matrix4x4 IK_InvKinBase::GetTransformFrame ( const double & x,

const double & y,

const double & z,

const double & roll,

const double & pitch,

const double & yaw

) [static]

Definition at line 303 of file IK_InvKinBase.cpp.
References Deg2Rad().
Referenced by GetTransformFrame(), and SetGoalFrame().
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void IK_InvKinBase::InitNewSearch ( ) [protected, virtual]

Reimplemented in IK_ACA, and IK_Jacobian.
Definition at line 511 of file IK_InvKinBase.cpp.
Referenced by SetGoalFrame().

bool IK_InvKinBase::Load ( const char * filename ) [virtual]

Reimplemented from PlannerBase.
Reimplemented in IK_ACA.
Definition at line 85 of file IK_InvKinBase.cpp.
References Semaphore::Lock(), and Semaphore::Unlock().
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bool IK_InvKinBase::Plan ( ) [virtual]

Implements PlannerBase.
Reimplemented in PL_ATACE, LocalPlannerClosed, LocalPlannerClosed, IK_ACA, and IK_Jacobian.
Definition at line 104 of file IK_InvKinBase.cpp.

bool IK_InvKinBase::Save ( const char * filename ) const [virtual]

Reimplemented from PlannerBase.
Reimplemented in IK_ACA.
Definition at line 115 of file IK_InvKinBase.cpp.
References Semaphore::Lock(), and Semaphore::Unlock().
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void IK_InvKinBase::SetGoalFrame ( const double & x,

const double & y,

const double & z,

const double & roll,

const double & pitch,

const double & yaw

)

Definition at line 263 of file IK_InvKinBase.cpp.
References GetTransformFrame(), and SetGoalFrame().
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void IK_InvKinBase::SetGoalFrame ( const VectorN & dofVector )

Definition at line 244 of file IK_InvKinBase.cpp.
References FRAMEDOF, VectorN::Length(), and SetGoalFrame().
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void IK_InvKinBase::SetGoalFrame ( const Configuration & config )

Definition at line 230 of file IK_InvKinBase.cpp.
References GetToolFrame(), and SetGoalFrame().
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