All Frameworks  Object Hierarchy  This Framework  Indexes   

SWKIKManager (Object)

This interface represents the IK manager of the manikin.
The methods on this interface allow to move the manikin in inverse kinematics.

Property Index

Behavior
Returns or sets the IK behaviors for this manikin.
Manikin
Returns the manikin which owns this IK manager.
NumberOfConstraints
Returns the total number of constraints on the manikin.

Method Index

AddConstraint
Add a constraint with the given end effector.
AddConstraintFrom
Add a new constraint identical to the one given.
GetConstraint
Returns the constraint at index piIndex.
RemoveAllConstraints
Remove all existing constraints on the manikin.
RemoveConstraint
Remove the given constraint.
Resolve
Launch the IK solver to minimize the potential functions of
the constraints (i.e. reach all defined targets).

Properties


o Property Behavior() As
Returns or sets the IK behaviors for this manikin. The string in this property is the concatenation of the current IK behaviors, like "Thoracic/Lumbar/Balance".
o Property Manikin() As (Read Only)
Returns the manikin which owns this IK manager.
o Property NumberOfConstraints() As (Read Only)
Returns the total number of constraints on the manikin.

Methods


o Func AddConstraint( piEndEffector) As
Add a constraint with the given end effector.
Parameters:
piEndEffector
The short name of the last segment (the end of the chain, i.e. the end effector).
poConstraint
The constraint created.
o Sub AddConstraintFrom( piConstraintFrom,
poCreatedConstraint)
Add a new constraint identical to the one given.
Parameters:
piConstraintFrom
The constraint to copy.
poCreatedConstraint
The new constraint
o Func GetConstraint( piIndex) As
Returns the constraint at index piIndex. First element is at index 0.
o Sub RemoveAllConstraints()
Remove all existing constraints on the manikin.
o Sub RemoveConstraint( piConstraintToRemove)
Remove the given constraint.
Parameters:
piConstraintToRemove
The constraint to remove.
o Sub Resolve()
Launch the IK solver to minimize the potential functions of
the constraints (i.e. reach all defined targets).
Will resolve the constraints for this manikin only.

Copyright © 2003, Dassault Systèmes. All rights reserved.