Public Member Functions | |
size_t | active_dofs () const |
Static Public Member Functions | |
template<typename bone_type , typename chain_type , typename matrix_range > | |
static void | compute_jacobian (bone_type &bone, chain_type &chain, matrix_range &J) |
This is a dummy bone traits class implementation created just for the unit-test compile.
This is a dummy bone traits class implementation created just for the unit-test compile.
The bone trait class was created to fill out the Jacobian matrix with the index of the bone. This way we can test which bones map into which sub-blocks in the resulting Jacobian matrix.
param size and dofs were chosen to create Jacobian sub-blocks of size 1-by-1.
size_t MyBoneTraits::active_dofs | ( | ) | const [inline] |
static void MyBoneTraits::compute_jacobian | ( | bone_type & | bone, | |
chain_type & | chain, | |||
matrix_range & | J | |||
) | [inline, static] |