IterJoint Class Reference

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#include <ikhierarchy.h>

Inheritance diagram for IterJoint:

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Class Description

Description:

This class is only available in release 5 or later.

LinkChain breaks joints, except for the root joint, of several degrees of freedom into 1 degree of freedom link. Sometimes, joints are more convenient. This is a helper class that helps to iterate over a LinkChain on the basis of joints. Suppose linkChain is a LinkChain, following code demonstrates how to iterate over joints.

IterJoint iter(linkChain);
iter.Begin(false);      // The first pivot starts at (0,0,0). To start from linkChain.parentMatrix, use iter.Begin(true).
do
{
        Point3 pivot_of_this_joint = iter.Pivot();
        Point3 pivot_of_next_joint = iter.DistalEnd();
        ...
} while (iter.Next());

Classes
struct	JointAxes
Public Types
enum	JointType { SlidingJoint, RotationalJoint }
Public Member Functions
	IterJoint (LinkChain &lc)
CoreExport void	InitJointAngles ()
	Set all joint angles to the respective initial values.
void	SetSkipSliding (bool skip)
CoreExport void	Begin (bool in_world)
CoreExport JointType	GetJointType () const
int	DofCount () const
CoreExport JointAxes	GetJointAxes () const
const Matrix3 &	ProximalFrame () const
const Matrix3 &	DistalFrame () const
Point3	Pivot () const
Point3	DistalEnd () const
CoreExport void	SetJointAngles (const Point3 &)
CoreExport Point3	GetJointAngles () const
CoreExport bool	Next ()
Protected Member Functions
CoreExport void	SkipSliding ()

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Member Enumeration Documentation

enum JointType

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Enumerator:

SlidingJoint	Search for all occurrences
RotationalJoint	Search for all occurrences

        {
                SlidingJoint,
                RotationalJoint
        };

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Constructor & Destructor Documentation

IterJoint

(

LinkChain &

lc

)

[inline]

                : mLinkChain(lc) , mSkipSlide(false)
        {
                // Empty ctor
        }

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Member Function Documentation

CoreExport void InitJointAngles

(

)

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Set all joint angles to the respective initial values.

void SetSkipSliding

(

bool

skip

)

[inline]

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Remarks:

If a solver overrides "<b>bool IKSolver::UseSlidingJoint()</b>" to return false, the IK system will not include sliding joints in the LinkChain passed to the solver. If the LinkChain may include sliding joint, this method informs the iterator to skip, or not to skip, the sliding joint. It should be called before Begin().

{ mSkipSlide = skip; }

CoreExport void Begin

(

bool

in_world

)

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Remarks:

Use Begin() to begin the iteration. The argument tells whether the pivot of the first joint starts at (0,0,0), if "in_world" is false, or at LinkChain::parentMatrix of the LinkChain that iterator works on.

CoreExport JointType GetJointType

(

)

const

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Remarks:

Whether this joint is rotational or sliding.

int DofCount

(

)

const [inline]

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Remarks:

The degrees of freedom of this joint and the axes of each degrees of freedom. JointAxes is string of chars. For 3-dof joint of order XYZ, for example, the JointAxes would be "xyz". For 2-dof XZ joint, it would be "_xz". Leading underscores are used to fill up the string to 3 chars long.

{ return mBegin == -1 ? 3: mEnd - mBegin; }

CoreExport JointAxes GetJointAxes

(

)

const

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Remarks:

Please refer to DofCount() for full explanation.

const Matrix3& ProximalFrame

(

)

const [inline]

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Remarks:

The proximal frame is the starting reference frame that this joint is aligned with. The distal frame is to be aligned with the proximal frame of the next joint.

Pivot() is the position of the proximal frame, and DistalEnd() is the position of the distal frame. The distance between is the length of the bone.

{ return mMat0; }

const Matrix3& DistalFrame

(

)

const [inline]

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Remarks:

Please refer to ProximalFrame() for full explanation.

{ return mMat; }

Point3 Pivot

(

)

const [inline]

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Remarks:

Please refer to ProximalFrame() for full explanation.

{ return mMat0.GetTrans(); }

Point3 DistalEnd

(

)

const [inline]

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Remarks:

Please refer to ProximalFrame() for full explanation.

{ return mMat.GetTrans(); }

CoreExport void SetJointAngles

(

const Point3 &

)

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Remarks:

Set and get joint angles. angles.x, angles.y, angles.z, correspond to the joint angles with regard to x-, y-, and z-axis. If the joint does not contain y-axis, for example, angles.y is not significant.

CoreExport Point3 GetJointAngles

(

)

const

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Remarks:

Please refer to SetJointAngles() for full explanation.

CoreExport bool Next

(

)

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Remarks:

Use Next() to move to the next joint, until it returns false.

CoreExport void SkipSliding

(

)

[protected]

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