ctInverseKinematics Class Reference

no dynamics here. More...

#include <ik.h>

Inheritance diagram for ctInverseKinematics:

Public Methods
	ctInverseKinematics (ctArticulatedBody &pab)
virtual void	solve (real t)
ctVector3	get_linear_a ()
	relative to it's body frame.
ctVector3	get_angular_a ()
void	apply_impulse (ctVector3, ctVector3)
void	get_impulse_m_and_I_inv (real , ctMatrix3 , const ctVector3 &, const ctVector3 &)
Protected Methods
void	solve_IK (real t, ctVector3 &the_goal, ctVector3 &end_effector)
void	compute_joint_angle (real t, ctVector3 &the_goal, ctVector3 &end_effector)
Protected Attributes
ctArticulatedBody&	ab
real	max_qv

Detailed Description

no dynamics here.

Calc velocities to move the end effector to it's goal !me really just a quick hack right now to demonstrate solver abstraction

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