Class ZeroPlaneMap
See Also: Class Point3, Inverse Kinematics
class ZeroPlaneMap
Description:
This class is available in release 4.0 and later only.
This class is defined in IKHierarchy.h and provides the functionality that, given a unit axis, which is to be substituted by the end effector (EE) Axis, produces a unit vector, which will be interpreted as the normal to a plane. For more details see the section on Inverse Kinematics.
Methods:
public:
Prototype:
virtual ~ZeroPlaneMap()
Remarks:
Destructor.
Default Implementation:
{ }
Prototype:
virtual Point3 operator()(const Point3& EEAxis) const = 0;
Remarks:
The ZeroPlaneMap call operator.
Parameters:
const Point3& EEAxis
The end effector axis.
Return Value:
The unit vector described above.