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Jacobian Solver Base Class
This does support two solvers
Jacobian Transpose
Jacobian Pseudo Inverse Damped Least Square (JPIDLS)
By default, we use JPIDLS, but it is cheaper to use Jacobian Transpose at the cost of solver
| Name | FJacobianSolverBase |
| Type | class |
| Header File | /Engine/Plugins/Experimental/FullBodyIK/Source/FullBodyIK/Public/JacobianSolver.h |
| Include Path | #include "JacobianSolver.h" |
Syntax
class FJacobianSolverBase
Derived Classes
FJacobianSolverBase derived class hierarchy
Constructors
| Name | Remarks | Include Path | Unreal Specifiers |
|---|---|---|---|
FJacobianSolverBase() |
JacobianSolver.h |
Destructors
| Name | Remarks | Include Path | Unreal Specifiers |
|---|---|---|---|
virtual ~FJacobianSolverBase() |
JacobianSolver.h |
Variables
Protected
| Name | Type | Remarks | Include Path | Unreal Specifiers |
|---|---|---|---|---|
| AnglePartialDerivatives | Eigen::MatrixXf | JacobianSolver.h | ||
| JacobianMatrix | Eigen::MatrixXf | For reusing, and not reallocating memory | JacobianSolver.h |
Functions
Public
| Name | Remarks | Include Path | Unreal Specifiers |
|---|---|---|---|
void ClearPostProcessDelegateForIteration() |
JacobianSolver.h | ||
void SetPostProcessDelegateForIteration
(
FPostProcessDelegateForIteration InDelegate |
JacobianSolver.h | ||
bool SolveJacobianIK
(
TArray< FFBIKLinkData >& InOutLinkData, |
JacobianSolver.h |
Protected
| Name | Remarks | Include Path | Unreal Specifiers |
|---|---|---|---|
virtual void InitializeSolver
(
TArray< FFBIKLinkData >& InOutLinkData, |
Initialize Solver - allows users to modify data before running the base solver - Check Below | JacobianSolver.h | |
virtual void PreSolve
(
TArray< FFBIKLinkData >& InOutLinkData, |
Pre Solve - for each iteration, they run PreSolve. | JacobianSolver.h |