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IKSolver::Rotation Struct Reference

Rotation (here specified as a quaternion) allows 0 freedoms. More...

#include <IKSolver.h>

Inheritance diagram for IKSolver::Rotation:

Detailed Description

Rotation (here specified as a quaternion) allows 0 freedoms.

Definition at line 91 of file IKSolver.h.

List of all members.

Public Member Functions

 Rotation ()
 Rotation (float wi, float xi, float yi, float zi)
 Rotation (const fmat::Quaternion &q)
virtual void computeErrorGradient (const Point &, const Rotation &r, fmat::Quaternion &de) const
 return quaternion indicating direction of decreasing error at point p and rotation r
virtual bool operator== (const Rotation &other) const

Constructor & Destructor Documentation

IKSolver::Rotation::Rotation (  ) 

Definition at line 92 of file IKSolver.h.

IKSolver::Rotation::Rotation ( float  wi,
float  xi,
float  yi,
float  zi 
)

Definition at line 93 of file IKSolver.h.

IKSolver::Rotation::Rotation ( const fmat::Quaternion q  ) 

Definition at line 94 of file IKSolver.h.


Member Function Documentation

virtual void IKSolver::Rotation::computeErrorGradient ( const Point p,
const Rotation r,
fmat::Quaternion de 
) const [virtual]

return quaternion indicating direction of decreasing error at point p and rotation r

Implements IKSolver::Orientation.

Definition at line 96 of file IKSolver.h.

virtual bool IKSolver::Rotation::operator== ( const Rotation other  )  const [virtual]

Definition at line 100 of file IKSolver.h.


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

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