Class Description

Description:: This class is only available in release 5 or later. This is an interface to a specific type of IK goal, the HI IK goal. The interface id is given the constant kHIIKGoalID.

The plugin solver that declares its goal type, with IKSolver::ExpectGoal(), as kHIIKGoalID should expect this type of goal from LinkChain::GetIKGoal(). To get the interface pointer, one can

IHIIKGoal *ikgoal = (IHIIKGoal*)linkChain->GetIKGoal()->GetInterface(kHIIKGoalID);

Public Member Functions
BaseInterface *	GetInterface (Interface_ID id)
Interface_ID	GetID ()
virtual bool	UseVHTarget () const =0
virtual float	SwivelAngle () const =0
virtual const Point3 &	VHTarget () const =0
virtual SAParentSpace	SwivelAngleParent () const =0
virtual const Point3 &	ChainNormal () const =0
virtual const ZeroPlaneMap *	DefaultZeroMap () const =0
virtual Matrix3 &	Goal ()=0

Member Function Documentation

BaseInterface* GetInterface ( Interface_ID id ) [inline, virtual]

Parameters:: Interface_ID id

Input id = kGoalID(<b>0x53937e2, 0x2be92941)

Reimplemented from IIKGoal.

{ if (id == kHIIKGoalID) return this; else return IIKGoal::GetInterface(id); }

Interface_ID GetID ( ) [inline, virtual]

Reimplemented from IIKGoal.

{ return kHIIKGoalID; }

virtual bool UseVHTarget ( ) const [pure virtual]

Remarks:: UseVHTarget() tells whether the swivel angle is determined (or computed) by a point in space to that the solver plane is supposed to pass, or is simply provided by a number literally. If it is true, the point is obtained from VHTarget(). Otherwise, the angle is obtained from SwivelAngle().

virtual float SwivelAngle ( ) const [pure virtual]

virtual const Point3& VHTarget ( ) const [pure virtual]

virtual SAParentSpace SwivelAngleParent ( ) const [pure virtual]

Remarks:: Whether the swivel angle is interpreted in the space in which the start joint lies, or in the space of the goal.

virtual const Point3& ChainNormal ( ) const [pure virtual]

Remarks:: The normal of the solver plane at the preferred pose, represented in the parent space of the root joint. It serves as the zero reference for the swivel angle.

virtual const ZeroPlaneMap* DefaultZeroMap ( ) const [pure virtual]

virtual Matrix3& Goal ( ) [pure virtual]