Class Description

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

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.

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.

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.

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.

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.