IK constraint with cone-limited swing and angle-limited twist. More...
#include <swing-twist-ik-constraint.hpp>
Inheritance diagram for swing_twist_ik_constraint:
Public Member Functions | |
| void | solve (math::fquat &q) override |
| Solves the constraint. More... | |
| void | set_twist_limit (float min_angle, float max_angle) |
| Sets the twist rotation limit. More... | |
Detailed Description
IK constraint with cone-limited swing and angle-limited twist.
Definition at line 29 of file swing-twist-ik-constraint.hpp.
Member Function Documentation
◆ set_twist_limit()
| void swing_twist_ik_constraint::set_twist_limit | ( | float | min_angle, |
| float | max_angle | ||
| ) |
Sets the twist rotation limit.
- Parameters
-
min_angle Minimum twist angle, in radians. max_angle Maximum twist angle, in radians.
Definition at line 23 of file swing-twist-ik-constraint.cpp.
◆ solve()
|
overridevirtual |
Solves the constraint.
- Parameters
-
[in,out] q Unit quaternion representing the rotation of a joint.
Implements ik_constraint.
Definition at line 31 of file swing-twist-ik-constraint.cpp.
The documentation for this class was generated from the following files: