C++ (Cpp) IKGoal::GetEdgeGoalTransformの例

コード例 #1

ファイル: RLG.cpp プロジェクト: HargisJ/KrisLibrary

void SampleTransform(const IKGoal& goal,RigidTransform& T)
{
  Assert(goal.posConstraint==IKGoal::PosFixed);
  switch(goal.rotConstraint) {
  case IKGoal::RotFixed:
    goal.GetFixedGoalTransform(T);
    break;
  case IKGoal::RotTwoAxis:
    FatalError("Can't have 2 axis terms rotation!");
    break;
  case IKGoal::RotAxis:
    {
      Real theta = Rand()*TwoPi;
      goal.GetEdgeGoalTransform(theta,T);
    }
    break;
  case IKGoal::RotNone:
    {
      QuaternionRotation q;
      RandRotation(q);
      q.getMatrix(T.R);
      T.t = goal.endPosition - T.R*goal.localPosition;
    }
    break;
  }
}

コード例 #2

ファイル: robotik.cpp プロジェクト: ol3577600/Klampt

void SampleTransform(const IKGoal& goal,RigidTransform& T)
{
  assert(goal.posConstraint == IKGoal::PosFixed);
  if(goal.rotConstraint == IKGoal::RotFixed) {
    goal.GetFixedGoalTransform(T);
  }
  else if (goal.rotConstraint == IKGoal::RotAxis) {
    goal.GetEdgeGoalTransform(Rand(0,TwoPi),T);
  }
  else {
    QuaternionRotation q=RandRotation();
    q.getMatrix(T.R);
    T.t = goal.endPosition - T.R*goal.localPosition;
  }
}