This class should be inherited by optimizer::Function classes that have a dependency on the HierarchicalIK module that they belong to. More...
#include <HierarchicalIK.hpp>
Public Member Functions | |
| virtual optimizer::FunctionPtr | clone (const std::shared_ptr< HierarchicalIK > &_newIK) const =0 |
| Enable this function to be cloned to a new IK module. More... | |
| virtual | ~Function ()=default |
| Virtual destructor. More... | |
Detailed Description
This class should be inherited by optimizer::Function classes that have a dependency on the HierarchicalIK module that they belong to.
If you pass an HierarchicalIK::Function into the Problem of an HierarchicalIK module, then it will be properly cloned whenever the HierarchicalIK module that it belongs to gets cloned. Any Function classes in the Problem that do not inherit HierarchicalIK::Function will just be copied over by reference.
Constructor & Destructor Documentation
◆ ~Function()
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virtualdefault |
Virtual destructor.
Member Function Documentation
◆ clone()
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pure virtual |
Enable this function to be cloned to a new IK module.
Implemented in dart::dynamics::HierarchicalIK::Constraint, and dart::dynamics::HierarchicalIK::Objective.
