IKSolver::Rotation Struct Reference

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

#include <IKSolver.h>

Inheritance diagram for IKSolver::Rotation:

[legend]

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Detailed Description

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

Definition at line 82 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

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Constructor & Destructor Documentation

IKSolver::Rotation::Rotation

(

)

Definition at line 83 of file IKSolver.h.

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

Definition at line 84 of file IKSolver.h.

IKSolver::Rotation::Rotation

(

const fmat::Quaternion &

q

)

Definition at line 85 of file IKSolver.h.

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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 87 of file IKSolver.h.

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

• IKSolver.h