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FJacobianSolverBase

Jacobian Solver Base Class

Choose your operating system:

Windows

macOS

Linux

Inheritance Hierarchy

FJacobianSolverBase

FJacobianSolver_FullbodyIK

FJacobianSolver_PositionRotationTarget_LocalFrame

FJacobianSolver_PositionTarget_3DOF

	FJacobianSolver_PositionRotationTarget_3DOF
	FJacobianSolver_PositionTarget_3DOF_Translation
	FJacobianSolver_RotationTarget_3DOF

FJacobianSolver_PositionTarget_Quat

FJacobianSolver_PositionRotationTarget_Quat

FJacobianSolver_RotationTarget_Quat

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

		Name	Description
	FCalculateParti...	OnCalculatePartialDerivativesDelegate
	FCalculateTarge...	OnCalculateTargetVectorDelegate
	FPostProcessDel...	OnPostProcessDelegateForIteration

Constructors

	Name	Description
	FJacobianSolverBase()

Destructors

	Name	Description
	~FJacobianSolverBase()

Functions

	Name	Description
void	ClearPostProcessDelegateForIteration()
void	InitializeSolver ( TArray< FFBIKLinkData >& InOutLink..., TMap< int32, FFBIKEffectorTarget > ... )	Initialize Solver - allows users to modify data before running the base solver - Check Below
void	PreSolve ( TArray< FFBIKLinkData >& InOutLink..., const TMap< int32, FFBIKEffectorTar... )	Pre Solve - for each iteration, they run PreSolve.
void	SetPostProcessDelegateForIteration ( FPostProcessDelegateForIteration In... )
bool	SolveJacobianIK ( TArray< FFBIKLinkData >& InOutLink..., const TMap< int32, FFBIKEffectorTar..., const FSolverParameter& InSolverPa..., int32 IterationCount, float Tolerance, TArray< FJacobianDebugData >* ... )