OpenTissue::kinematics::inverse::Chain< skeleton_type_ > Class Template Reference

#include <inverse_chain.h>

List of all members.

Public Types
typedef skeleton_type_	skeleton_type
typedef skeleton_type::math_types	math_types
typedef skeleton_type::bone_type	bone_type
typedef skeleton_type::bone_traits	bone_traits
typedef math_types::real_type	real_type
typedef math_types::vector3_type	vector3_type
typedef boost::indirect_iterator < bone_ptr_iterator >	bone_iterator
typedef boost::indirect_iterator < reverse_bone_ptr_iterator >	reverse_bone_iterator
Public Member Functions
bool &	only_position ()
bool const &	only_position () const
vector3_type const &	p_local () const
vector3_type &	p_local ()
vector3_type const &	x_local () const
vector3_type &	x_local ()
vector3_type const &	y_local () const
vector3_type &	y_local ()
vector3_type const &	p_global () const
vector3_type &	p_global ()
vector3_type const &	x_global () const
vector3_type &	x_global ()
vector3_type const &	y_global () const
vector3_type &	y_global ()
real_type const &	weight_p () const
real_type const &	weight_x () const
real_type const &	weight_y () const
void	set_weight_p (real_type const &value)
void	set_weight_x (real_type const &value)
void	set_weight_y (real_type const &value)
bool	operator== (Chain const &chain)
void	init (bone_type const *root_, bone_type const *end_effector_)
bone_iterator	bone_begin ()
bone_iterator	bone_end ()
reverse_bone_iterator	rbone_begin ()
reverse_bone_iterator	rbone_end ()
bone_type *const	get_root () const
bone_type *const	get_end_effector () const
size_t	get_goal_dimension () const
Protected Types
typedef math_types::value_traits	value_traits
typedef std::list< bone_type * >	bone_container
typedef bone_container::iterator	bone_ptr_iterator
typedef bone_container::reverse_iterator	reverse_bone_ptr_iterator
Protected Attributes
bone_container	m_bones
	All the bones in the chain, stored sequentially from root to end-effector.
bool	m_only_position
	Boolean flag indicating whether this chain goal is purely positional or if it includes orientation. Default is true.
vector3_type	m_p_local
	In local end-effector coordinates.
vector3_type	m_x_local
	In local end-effector coordinates.
vector3_type	m_y_local
	In local end-effector coordinates.
vector3_type	m_p_global
	In global world (root) coordinates.
vector3_type	m_x_global
	In global world (root) coordinates.
vector3_type	m_y_global
	In global world (root) coordinates.
real_type	m_weight_p
	The weighting of p goal. Default value is one.
real_type	m_weight_x
	The weighting of x goal. Default value is one.
real_type	m_weight_y
	The weighting of y goal. Default value is one.

---

Detailed Description

template<typename skeleton_type_>
class OpenTissue::kinematics::inverse::Chain< skeleton_type_ >

Chain Class. This class represents a kinematic chain in a skeleton.

A kinematic chain is simply a connected sequence of bones. The first bone in the sequence is named the root-bone and the last bone is named the end-effector.

Observe that the root of a kinematic chain does not need to be the root of the skeleton. However, the root of the chain does need to be the ``inboard'' bone and the end-effector needs to the be the ``outboard'' bone.

By inboard we mean closer to the root of the skeleton and by outboard we mean further away from the skeleton root.

Template Parameters:

skeleton_type_

The type of skeleton that this kinematic chain can be defined on.

---

Member Typedef Documentation

template<typename skeleton_type_ >

typedef std::list<bone_type*> OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::bone_container [protected]

template<typename skeleton_type_ >

typedef boost::indirect_iterator<bone_ptr_iterator> OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::bone_iterator

template<typename skeleton_type_ >

typedef bone_container::iterator OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::bone_ptr_iterator [protected]

template<typename skeleton_type_ >

typedef skeleton_type::bone_traits OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::bone_traits

template<typename skeleton_type_ >

typedef skeleton_type::bone_type OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::bone_type

template<typename skeleton_type_ >

typedef skeleton_type::math_types OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::math_types

template<typename skeleton_type_ >

typedef math_types::real_type OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::real_type

template<typename skeleton_type_ >

typedef boost::indirect_iterator<reverse_bone_ptr_iterator> OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::reverse_bone_iterator

template<typename skeleton_type_ >

typedef bone_container::reverse_iterator OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::reverse_bone_ptr_iterator [protected]

template<typename skeleton_type_ >

typedef skeleton_type_ OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::skeleton_type

template<typename skeleton_type_ >

typedef math_types::value_traits OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::value_traits [protected]

template<typename skeleton_type_ >

typedef math_types::vector3_type OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::vector3_type

---

Member Function Documentation

template<typename skeleton_type_ >

bone_iterator OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::bone_begin

(

)

[inline]

Get Bone Iterator.

Returns:

A bone iterator to the first bone in the chain.

template<typename skeleton_type_ >

bone_iterator OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::bone_end

(

)

[inline]

Get End Bone Iterator.

Returns:

A bone iterator to the position one past the last bone (i.e. the end-effector) in the chain.

template<typename skeleton_type_ >

bone_type* const OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::get_end_effector

(

)

const [inline]

Get end-effector Bone.

Returns:

A pointer to the end-effector bone or null if the chain is un-initialized.

template<typename skeleton_type_ >

size_t OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::get_goal_dimension

(

)

const [inline]

Get Dimension of Goal.

Returns:

The dimension of the goal placement. If only positional then the dimension is 3. If both position and orientation is specified then the dimension is 9.

template<typename skeleton_type_ >

bone_type* const OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::get_root

(

)

const [inline]

Get Root Bone.

A pointer to the root bone of the chain or null if the chain is not initialised.

template<typename skeleton_type_ >

void OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::init	(	bone_type const *	root_,
		bone_type const *	end_effector_
	)			[inline]

Initialize Chain. This method traverses all the bones inbetween the specified end-effector and root. While traversing the bones they are added to the chain.

Parameters:

	root_	A pointer to the root bone of the chain.
	end_effector_	A pointer to the end-effector bone of the chain.

template<typename skeleton_type_ >

bool& OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::only_position

(

)

[inline]

Get Only Positional Flag.

Returns:

A reference to a boolean flag. If set to true then the chain goal is only positional and otherwise both positional and orientation.

template<typename skeleton_type_ >

bool const& OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::only_position

(

)

const [inline]

template<typename skeleton_type_ >

bool OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::operator==

(

Chain< skeleton_type_ > const &

chain

)

[inline]

Comparison Operator.

Parameters:

chain

Another chain to compare with.

Returns:

If the other chain have the same root and end-effector then we define the two chains to be the same.

template<typename skeleton_type_ >

vector3_type const& OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::p_global

(

)

const [inline]

Get global transformation

Returns:

A reference to the global translation of the end effector i.e in WCS

template<typename skeleton_type_ >

vector3_type& OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::p_global

(

)

[inline]

template<typename skeleton_type_ >

vector3_type& OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::p_local

(

)

[inline]

template<typename skeleton_type_ >

vector3_type const& OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::p_local

(

)

const [inline]

Get Local transformation

Returns:

A reference to the local translation of the end effector

template<typename skeleton_type_ >

reverse_bone_iterator OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::rbone_begin

(

)

[inline]

Get Reverse Bone Iterator.

Returns:

A reverse bone iterator to the last bone in the chain (ie. the end-effector).

template<typename skeleton_type_ >

reverse_bone_iterator OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::rbone_end

(

)

[inline]

Get Reverse End Bone Iterator.

Returns:

A reverse bone iterator to the position just prior to the first bone in the chain (i.e the root).

template<typename skeleton_type_ >

void OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::set_weight_p

(

real_type const &

value

)

[inline]

Set Partial Goal Weight.

Parameters:

value

A non-negative goal weight. Large values means that more importance should be applied to reach the corresponding goal.

template<typename skeleton_type_ >

void OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::set_weight_x

(

real_type const &

value

)

[inline]

template<typename skeleton_type_ >

void OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::set_weight_y

(

real_type const &

value

)

[inline]

template<typename skeleton_type_ >

real_type const& OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::weight_p

(

)

const [inline]

Get Partial Goal Weight.

Returns:

The current goal weight.

template<typename skeleton_type_ >

real_type const& OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::weight_x

(

)

const [inline]

template<typename skeleton_type_ >

real_type const& OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::weight_y

(

)

const [inline]

template<typename skeleton_type_ >

vector3_type const& OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::x_global

(

)

const [inline]

Get global transformation

Returns:

A reference to the global xaxis of the end effector i.e in WCS

template<typename skeleton_type_ >

vector3_type& OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::x_global

(

)

[inline]

template<typename skeleton_type_ >

vector3_type& OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::x_local

(

)

[inline]

template<typename skeleton_type_ >

vector3_type const& OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::x_local

(

)

const [inline]

Get Local transformation

Returns:

A reference to the local x axis of the end effector

template<typename skeleton_type_ >

vector3_type const& OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::y_global

(

)

const [inline]

Get global transformation

Returns:

A reference to the global yaxis of the end effector i.e in WCS

template<typename skeleton_type_ >

vector3_type& OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::y_global

(

)

[inline]

template<typename skeleton_type_ >

vector3_type const& OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::y_local

(

)

const [inline]

Get Local transformation

Returns:

A reference to the local y axis of the end effector

template<typename skeleton_type_ >

vector3_type& OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::y_local

(

)

[inline]

---

Member Data Documentation

template<typename skeleton_type_ >

bone_container OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::m_bones [protected]

All the bones in the chain, stored sequentially from root to end-effector.

template<typename skeleton_type_ >

bool OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::m_only_position [protected]

Boolean flag indicating whether this chain goal is purely positional or if it includes orientation. Default is true.

template<typename skeleton_type_ >

vector3_type OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::m_p_global [protected]

In global world (root) coordinates.

template<typename skeleton_type_ >

vector3_type OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::m_p_local [protected]

In local end-effector coordinates.

template<typename skeleton_type_ >

real_type OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::m_weight_p [protected]

The weighting of p goal. Default value is one.

template<typename skeleton_type_ >

real_type OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::m_weight_x [protected]

The weighting of x goal. Default value is one.

template<typename skeleton_type_ >

real_type OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::m_weight_y [protected]

The weighting of y goal. Default value is one.

template<typename skeleton_type_ >

vector3_type OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::m_x_global [protected]

In global world (root) coordinates.

template<typename skeleton_type_ >

vector3_type OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::m_x_local [protected]

In local end-effector coordinates.

template<typename skeleton_type_ >

vector3_type OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::m_y_global [protected]

In global world (root) coordinates.

template<typename skeleton_type_ >

vector3_type OpenTissue::kinematics::inverse::Chain< skeleton_type_ >::m_y_local [protected]

In local end-effector coordinates.

---

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

• /home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/kinematics/inverse/inverse_chain.h