CscJacobianInverseKinematic Class Reference

#include <CscJacobianInverseKinematic.h>

Classes
struct	TargetIKParams

Public Member Functions
	CscJacobianInverseKinematic (CscEnvironmentSimulator *env, float maxHorizontalDistance, float maxVerticalDistance, float maxDepthDistance, CscPoint3d *offsetCenter, CscState *beginState, const CscEntityModel *entityModel, vector< TargetIKParams * > targets, map< int, CscPoint3d * > &centerOfMassOfAllMemberByMemberId, bool debugWithBox=false, bool constraintOnDistance=false, vector< int > pivotIdToIgnore=vector< int >())
void	initIk ()
CscPoint3d *	getEntityCenterOfMass ()
void	changeTargets (vector< TargetIKParams * > newTargets, bool relativeValues=false)
void	compute ()
void	computeRandomly ()
double	getDistanceFromTarget ()
map< int, float >	getResult () const
vector< vector< int > >	getPivotIdPaths () const
vector< TargetIKParams * >	getTargets () const
void	updateThetasRandomly ()
	~CscJacobianInverseKinematic ()
void	changeTargetsWithCenterOfMass (const bool applyDimensionXYZ[3], vector< int > idTargetsToChange)
	Modifies the target positions based on the center of mass. More...
Tree	getIkTree ()

Public Attributes
const float	targetPrecision = 1.5f

Constructor & Destructor Documentation

CscJacobianInverseKinematic()

CscJacobianInverseKinematic::CscJacobianInverseKinematic	(	CscEnvironmentSimulator *	env,
		float	maxHorizontalDistance,
		float	maxVerticalDistance,
		float	maxDepthDistance,
		CscPoint3d *	offsetCenter,
		CscState *	beginState,
		const CscEntityModel *	entityModel,
		vector< TargetIKParams * >	targets,
		map< int, CscPoint3d * > &	centerOfMassOfAllMemberByMemberId,
		bool	debugWithBox = false,
		bool	constraintOnDistance = false,
		vector< int >	pivotIdToIgnore = vector<int>()
	)

~CscJacobianInverseKinematic()

CscJacobianInverseKinematic::~CscJacobianInverseKinematic

(

)

Member Function Documentation

changeTargets()

void CscJacobianInverseKinematic::changeTargets	(	vector< TargetIKParams * >	newTargets,
		bool	relativeValues = false
	)

@Param relativeValues FALSE by default. if TRUE, inputs targets values as added to previous one. If FALSE, inputs targets replace previous one

changeTargetsWithCenterOfMass()

void CscJacobianInverseKinematic::changeTargetsWithCenterOfMass	(	const bool	applyDimensionXYZ[3],
		vector< int >	idTargetsToChange
	)

Modifies the target positions based on the center of mass.

Given a set of target IDs to change and a boolean array indicating which dimensions (X, Y, Z) to apply changes to, this function modifies the target positions. If a dimension should change for a particular target (as indicated by applyDimensionXYZ), the target's position in that dimension is set to the entity's center of mass position. Otherwise, it remains unchanged.

Parameters

applyDimensionXYZ	Boolean array indicating which dimensions to change: [0] for X, [1] for Y, and [2] for Z.
idTargetsToChange	Vector containing IDs of targets to modify.

Note

This function modifies global members like entityCenterOfMass and targets. Also, it internally computes the new targets based on the center of mass and replaces the old targets with them using changeTargets.

compute()

void CscJacobianInverseKinematic::compute

(

)

computeRandomly()

void CscJacobianInverseKinematic::computeRandomly

(

)

getDistanceFromTarget()

double CscJacobianInverseKinematic::getDistanceFromTarget

(

)

getEntityCenterOfMass()

CscPoint3d * CscJacobianInverseKinematic::getEntityCenterOfMass

(

)

getIkTree()

Tree CscJacobianInverseKinematic::getIkTree

(

)

getPivotIdPaths()

vector< vector< int > > CscJacobianInverseKinematic::getPivotIdPaths

(

)

const

getResult()

map< int, float > CscJacobianInverseKinematic::getResult

(

)

const

getTargets()

vector< CscJacobianInverseKinematic::TargetIKParams * > CscJacobianInverseKinematic::getTargets

(

)

const

initIk()

void CscJacobianInverseKinematic::initIk

(

)

updateThetasRandomly()

void CscJacobianInverseKinematic::updateThetasRandomly

(

)

Member Data Documentation

targetPrecision

const float CscJacobianInverseKinematic::targetPrecision = 1.5f

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

• ArtificialIntelligence/CscJacobianInverseKinematic.h
• ArtificialIntelligence/CscJacobianInverseKinematic.cpp