DART  6.6.2
dart::dynamics::HierarchicalIK::Function Class Referenceabstract

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>

Inheritance diagram for dart::dynamics::HierarchicalIK::Function:
dart::constraint::BalanceConstraint dart::dynamics::HierarchicalIK::Constraint dart::dynamics::HierarchicalIK::Objective

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()

virtual dart::dynamics::HierarchicalIK::Function::~Function ( )
virtualdefault

Virtual destructor.

Member Function Documentation

◆ clone()

virtual optimizer::FunctionPtr dart::dynamics::HierarchicalIK::Function::clone ( const std::shared_ptr< HierarchicalIK > &  _newIK) const
pure virtual

Enable this function to be cloned to a new IK module.

Implemented in dart::dynamics::HierarchicalIK::Constraint, and dart::dynamics::HierarchicalIK::Objective.