This class should be inherited by optimization::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:
Public Member Functions | |
| virtual optimization::FunctionPtr | clone (const std::shared_ptr< HierarchicalIK > &_newIK) const =0 |
| Enable this function to be cloned to a new IK module. | |
| virtual | ~Function ()=default |
| Virtual destructor. | |
Detailed Description
This class should be inherited by optimization::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.
The documentation for this class was generated from the following file:
- dart/dynamics/HierarchicalIK.hpp
