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MIkHandleGroup Class Reference

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Detailed Description

IK handle groups.

Group class for ik handles. Each group has an associated solver and priority. A single chain solver handle group has only one handle in its group.

Examples:

simpleSolverNode.cpp.

#include <MIkHandleGroup.h>

List of all members.

Public Member Functions

 MIkHandleGroup ()
 Default constructor.
 ~MIkHandleGroup ()
 The class destructor.
int priority (MStatus *ReturnStatus=NULL) const
 Return the priority value of this handle group.
int solverID (MStatus *ReturnStatus=NULL) const
 Return the solver id used by this handle group.
int solverPriority (MStatus *ReturnStatus=NULL) const
 return the priority of the solver used by this handle group.
MStatus setPriority (int)
 Set the priority of this handle group.
MStatus setSolverID (int)
 Set the solver id for this handle group.
bool checkEffectorAtGoal (MStatus *ReturnStatus=NULL)
 Determines whether the end-effector at the handle(goal) location.
MStatus solve ()
 Do all ik solving steps for this group.
int dofCount (MStatus *ReturnStatus=NULL) const
 Return the total number of degrees of freedom of this handle group.
int handleCount (MStatus *ReturnStatus=NULL) const
 Return the number of handles in the handle list for this group.
MObject handle (int ith, MStatus *ReturnStatus=NULL)
 Return the ith handle in the handle list for this group.

Static Public Member Functions

static const char * className ()
 Returns the name of this class.

Friends

class MPxIkSolver
class MPxIkSolverNode

Constructor & Destructor Documentation

Default constructor.

The instance is set to contain no groups.


Member Function Documentation

int priority ( MStatus ReturnStatus = NULL) const

Return the priority value of this handle group.

Parameters:
[out]ReturnStatusStatus code
Returns:
The priority
Status Codes:
int solverID ( MStatus ReturnStatus = NULL) const

Return the solver id used by this handle group.

Parameters:
[out]ReturnStatusStatus code
Returns:
The solver id for this group
Status Codes:
int solverPriority ( MStatus ReturnStatus = NULL) const

return the priority of the solver used by this handle group.

Parameters:
[out]ReturnStatusStatus code
Returns:
The solver priority
Status Codes:
MStatus setPriority ( int  priority)

Set the priority of this handle group.

Parameters:
[in]prioritythe priority value to set
Returns:
Status code
Status Codes:
MStatus setSolverID ( int  id)

Set the solver id for this handle group.

Parameters:
[in]idthe id value to set
Returns:
Status code
Status Codes:
bool checkEffectorAtGoal ( MStatus ReturnStatus = NULL)

Determines whether the end-effector at the handle(goal) location.

Parameters:
[out]ReturnStatusStatus code
Returns:
  • true The end-effector is at the goal location
  • false The end-effector is not at the goal location
Status Codes:
MStatus solve ( )

Do all ik solving steps for this group.

Returns:
Status code
Status Codes:
int dofCount ( MStatus ReturnStatus = NULL) const

Return the total number of degrees of freedom of this handle group.

Parameters:
[out]ReturnStatusStatus code
Returns:
The total number of dofs
Status Codes:
int handleCount ( MStatus ReturnStatus = NULL) const

Return the number of handles in the handle list for this group.

Parameters:
[out]ReturnStatusStatus code
Returns:
The number of handles
Status Codes:
MObject handle ( int  ith,
MStatus ReturnStatus = NULL 
)

Return the ith handle in the handle list for this group.

Parameters:
[in]iththe index of the handle
[out]ReturnStatusStatus code
Returns:
An MObject for the handle
Status Codes:
Examples:
simpleSolverNode.cpp.
const char * className ( ) [static]

Returns the name of this class.

Returns:
The name of this class.

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