Klamp't  0.9.0
Public Member Functions | Public Attributes | List of all members
Klampt::RobotIKPoseWidget Class Reference

A widget that allows creating and editing IK constraints. More...

#include <RobotPoseWidget.h>

Inheritance diagram for Klampt::RobotIKPoseWidget:

Public Member Functions

 RobotIKPoseWidget (RobotModel *robot)
 
void ClearLink (int link)
 Clears all constraints on the given link.
 
void FixPoint (int link, const Vector3 &localpt)
 Fixes the given point on the link at its current location.
 
void FixLink (int link)
 Fixes the given link's position and orientation at its current pose.
 
void Add (const IKGoal &goal)
 Adds a new constraint.
 
void AttachWidget (int widget, int link)
 Sets the destination link of the given widget.
 
void SetPoseAndWidgetTransform (int widget, const RigidTransform &T)
 Sets the transform of the pose goal and its widget.
 
void RefreshWidgets ()
 Call this after changing the poseGoals and poseWidgets structure.
 
int HoverWidget () const
 Returns the index of the hovered widget.
 
int ActiveWidget () const
 Returns the index of the active widget.
 
bool ClearCurrent ()
 Clears the constraint on the currently active widget.
 
virtual void DrawGL (Camera::Viewport &viewport) override
 
virtual void Drag (int dx, int dy, Camera::Viewport &viewport) override
 
virtual bool Hover (int x, int y, Camera::Viewport &viewport, double &closestDistance) override
 
virtual bool BeginDrag (int x, int y, Camera::Viewport &viewport, double &closestDistance) override
 

Public Attributes

RobotModelrobot
 
vector< IKGoal > poseGoals
 
vector< GLDraw::TransformWidget > poseWidgets
 

Detailed Description

A widget that allows creating and editing IK constraints.


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