FJacobianSolverBase

Jacobian Solver Base Class

Windows
MacOS
Linux

Inheritance Hierarchy

References

Module

FullBodyIK

Header

/Engine/Plugins/Experimental/FullBodyIK/Source/FullBodyIK/Public/JacobianSolver.h

Include

#include "JacobianSolver.h"

Syntax

class FJacobianSolverBase

Remarks

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

Variables

Constructors

Name Description

Public function

FJacobianSolverBase()

Destructors

Name Description

Public function Virtual

~FJacobianSolverBase()

Functions

Name Description

Public function

void

 

ClearPostProcessDelegateForIteration()

Protected function Virtual Const

void

 

InitializeSolver

(
    TArray< FFBIKLinkData >& InOutLink...,
    TMap< int32, FFBIKEffectorTarget > ...
)

Initialize Solver - allows users to modify data before running the base solver - Check Below

Protected function Virtual Const

void

 

PreSolve

(
    TArray< FFBIKLinkData >& InOutLink...,
    const TMap< int32, FFBIKEffectorTar...
)

Pre Solve - for each iteration, they run PreSolve.

Public function

void

 

SetPostProcessDelegateForIteration

(
    FPostProcessDelegateForIteration In...
)

Public function

bool

 

SolveJacobianIK

(
    TArray< FFBIKLinkData >& InOutLink...,
    const TMap< int32, FFBIKEffectorTar...,
    const FSolverParameter& InSolverPa...,
    int32 IterationCount,
    float Tolerance,
    TArray< FJacobianDebugData >* ...
)
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