VART::IKChain Class Reference

Inverse Kinematic Chain. More...

#include <ikchain.h>

Public Member Functions
	IKChain (SGPath path, Point4D eePos, Point4D eeOri)
	Main constructor. More...
void	SetEEPosition (const Point4D &eePos)
	Sets the position of End Effector. More...
void	SetTargetPosition (const Point4D &target)
	Sets the target position. More...
void	MoveTowardsSolution ()
	Adjusts the chain towards solution. More...

Protected Attributes
std::list< Dof * >	dofChain
	Chain (list) of DOFs. More...
Point4D	eePosition
	Position of end effector. More...
Point4D	eeOrientation
	Orientation of end effector. More...
Point4D	targetPos
	Target position. More...

Detailed Description

Inverse Kinematic Chain.

Describes an inverse kinematics chain to be used on some IK solver. An IK chain is a sequence of DOFs and an end effector (position + orientation).

Definition at line 18 of file ikchain.h.

Constructor & Destructor Documentation

VART::IKChain::IKChain	(	SGPath	path,
		Point4D	eePos,
		Point4D	eeOri
	)

Main constructor.

Parameters

path	[in] A SGPath that contains all joints in chain.
eePos	[in] End Effector Position.
eeOri	[in] End Effector Orientation.

Definition at line 12 of file ikchain.cpp.

References dofChain, VART::Joint::GetDofs(), and VART::SGPath::Traverse().

Member Function Documentation

void VART::IKChain::MoveTowardsSolution

(

)

Adjusts the chain towards solution.

Definition at line 30 of file ikchain.cpp.

References VART::Transform::CopyMatrix(), and VART::Transform::MakeIdentity().

void VART::IKChain::SetEEPosition

(

const Point4D &

eePos

)

Sets the position of End Effector.

Definition at line 25 of file ikchain.cpp.

void VART::IKChain::SetTargetPosition ( const Point4D &  target )

inline

Sets the target position.

Definition at line 33 of file ikchain.h.

References targetPos.

Member Data Documentation

std::list<Dof*> VART::IKChain::dofChain

protected

Chain (list) of DOFs.

Definition at line 43 of file ikchain.h.

Referenced by IKChain().

Point4D VART::IKChain::eeOrientation

protected

Orientation of end effector.

The "real" orientation is defined by three vectors: one vector from the last dof in the chain and the EE position, one given (eeOrientation) and the cross product of the previous two.

Definition at line 51 of file ikchain.h.

Point4D VART::IKChain::eePosition

protected

Position of end effector.

Definition at line 45 of file ikchain.h.

Point4D VART::IKChain::targetPos

protected

Target position.

Definition at line 53 of file ikchain.h.

Referenced by SetTargetPosition().

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The documentation for this class was generated from the following files:

• ikchain.h
• ikchain.cpp