ExecIrFkController Class Reference

A simple invertible controller that computes a forward kinematic transform. More...

#include <fkController.h>

Inheritance diagram for ExecIrFkController:

Public Member Functions
	ExecIrFkController (const UsdPrim &prim=UsdPrim())
	Construct a ExecIrFkController on UsdPrim prim .
	ExecIrFkController (const UsdSchemaBase &schemaObj)
	Construct a ExecIrFkController on the prim held by schemaObj .
virtual EXECIR_API	~ExecIrFkController ()
	Destructor.
EXECIR_API UsdAttribute	GetParentInSpaceAttr () const
	If the FK controller has a parent controller, this attribute takes the parent's posed space as input.
EXECIR_API UsdAttribute	CreateParentInSpaceAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetParentInSpaceAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
EXECIR_API UsdAttribute	GetParentInDefaultSpaceAttr () const
	If the FK controller has a parent controller, this attribute takes the parent's default space as input.
EXECIR_API UsdAttribute	CreateParentInDefaultSpaceAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetParentInDefaultSpaceAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
EXECIR_API UsdAttribute	GetOutSpaceAttr () const
	A 4x4 matrix that represents the computed output space produced by the controller.
EXECIR_API UsdAttribute	CreateOutSpaceAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetOutSpaceAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
EXECIR_API UsdAttribute	GetOutDefaultSpaceAttr () const
	Passes through the value of the 'in:defaultSpace' attribute.
EXECIR_API UsdAttribute	CreateOutDefaultSpaceAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetOutDefaultSpaceAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
EXECIR_API UsdAttribute	GetInDefaultSpaceAttr () const
	A local-to-world space transform representing the "zero" position for posing.
EXECIR_API UsdAttribute	CreateInDefaultSpaceAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetInDefaultSpaceAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
EXECIR_API UsdAttribute	GetInTxAttr () const
EXECIR_API UsdAttribute	CreateInTxAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetInTxAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
EXECIR_API UsdAttribute	GetInTyAttr () const
EXECIR_API UsdAttribute	CreateInTyAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetInTyAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
EXECIR_API UsdAttribute	GetInTzAttr () const
EXECIR_API UsdAttribute	CreateInTzAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetInTzAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
EXECIR_API UsdAttribute	GetInRxAttr () const
EXECIR_API UsdAttribute	CreateInRxAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetInRxAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
EXECIR_API UsdAttribute	GetInRyAttr () const
EXECIR_API UsdAttribute	CreateInRyAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetInRyAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
EXECIR_API UsdAttribute	GetInRzAttr () const
EXECIR_API UsdAttribute	CreateInRzAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetInRzAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
EXECIR_API UsdAttribute	GetInRspinAttr () const
	The rotation attribute that gets zeroed out when solving for rotation values.
EXECIR_API UsdAttribute	CreateInRspinAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetInRspinAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
EXECIR_API UsdAttribute	GetInRotationOrderAttr () const
EXECIR_API UsdAttribute	CreateInRotationOrderAttr (VtValue const &defaultValue=VtValue(), bool writeSparsely=false) const
	See GetInRotationOrderAttr(), and also Create vs Get Property Methods for when to use Get vs Create.
Public Member Functions inherited from ExecIrController
	ExecIrController (const UsdPrim &prim=UsdPrim())
	Construct a ExecIrController on UsdPrim prim .
	ExecIrController (const UsdSchemaBase &schemaObj)
	Construct a ExecIrController on the prim held by schemaObj .
virtual EXECIR_API	~ExecIrController ()
	Destructor.
Public Member Functions inherited from UsdTyped
	UsdTyped (const UsdPrim &prim=UsdPrim())
	Construct a UsdTyped on UsdPrim prim .
	UsdTyped (const UsdSchemaBase &schemaObj)
	Construct a UsdTyped on the prim held by schemaObj .
virtual USD_API	~UsdTyped ()
	Destructor.
Public Member Functions inherited from UsdSchemaBase
bool	IsConcrete () const
	Returns whether or not this class corresponds to a concrete instantiable prim type in scene description.
bool	IsTyped () const
	Returns whether or not this class inherits from UsdTyped.
bool	IsAPISchema () const
	Returns whether this is an API schema or not.
bool	IsAppliedAPISchema () const
	Returns whether this is an applied API schema or not.
bool	IsMultipleApplyAPISchema () const
	Returns whether this is an applied API schema or not.
UsdSchemaKind	GetSchemaKind () const
	Returns the kind of schema this class is.
USD_API	UsdSchemaBase (const UsdPrim &prim=UsdPrim())
	Construct and store prim as the held prim.
USD_API	UsdSchemaBase (const UsdSchemaBase &otherSchema)
	Construct and store for the same prim held by otherSchema.
virtual USD_API	~UsdSchemaBase ()
	Destructor.
UsdPrim	GetPrim () const
	Return this schema object's held prim.
SdfPath	GetPath () const
	Shorthand for GetPrim()->GetPath().
USD_API const UsdPrimDefinition *	GetSchemaClassPrimDefinition () const
	Return the prim definition associated with this schema instance if one exists, otherwise return null.
USD_API	operator bool () const
	Return true if this schema object is compatible with its held prim, false otherwise.

Static Public Member Functions
static EXECIR_API const TfTokenVector &	GetSchemaAttributeNames (bool includeInherited=true)
	Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes.
static EXECIR_API ExecIrFkController	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a ExecIrFkController holding the prim adhering to this schema at path on stage.
static EXECIR_API ExecIrFkController	Define (const UsdStagePtr &stage, const SdfPath &path)
	Attempt to ensure a UsdPrim adhering to this schema at path is defined (according to UsdPrim::IsDefined()) on this stage.
Static Public Member Functions inherited from ExecIrController
static EXECIR_API const TfTokenVector &	GetSchemaAttributeNames (bool includeInherited=true)
	Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes.
static EXECIR_API ExecIrController	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a ExecIrController holding the prim adhering to this schema at path on stage.
Static Public Member Functions inherited from UsdTyped
static USD_API const TfTokenVector &	GetSchemaAttributeNames (bool includeInherited=true)
	Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes.
static USD_API UsdTyped	Get (const UsdStagePtr &stage, const SdfPath &path)
	Return a UsdTyped holding the prim adhering to this schema at path on stage.
Static Public Member Functions inherited from UsdSchemaBase
static const TfTokenVector &	GetSchemaAttributeNames (bool includeInherited=true)

Static Public Attributes
static const UsdSchemaKind	schemaKind = UsdSchemaKind::ConcreteTyped
	Compile time constant representing what kind of schema this class is.
Static Public Attributes inherited from ExecIrController
static const UsdSchemaKind	schemaKind = UsdSchemaKind::AbstractTyped
	Compile time constant representing what kind of schema this class is.
Static Public Attributes inherited from UsdTyped
static const UsdSchemaKind	schemaKind = UsdSchemaKind::AbstractBase
	Compile time constant representing what kind of schema this class is.
Static Public Attributes inherited from UsdSchemaBase
static const UsdSchemaKind	schemaKind = UsdSchemaKind::AbstractBase
	Compile time constant representing what kind of schema this class is.

Protected Member Functions
EXECIR_API UsdSchemaKind	_GetSchemaKind () const override
	Returns the kind of schema this class belongs to.
Protected Member Functions inherited from ExecIrController
Protected Member Functions inherited from UsdTyped
USD_API UsdSchemaKind	_GetSchemaKind () const override
	Returns the kind of schema this class belongs to.
USD_API bool	_IsCompatible () const override
	Subclasses may override _IsCompatible to do specific compatibility checking with the given prim, such as type compatibility or value compatibility.
Protected Member Functions inherited from UsdSchemaBase
virtual UsdSchemaKind	_GetSchemaType () const
const TfType &	_GetType () const
USD_API UsdAttribute	_CreateAttr (TfToken const &attrName, SdfValueTypeName const &typeName, bool custom, SdfVariability variability, VtValue const &defaultValue, bool writeSparsely) const

Friends
class	UsdSchemaRegistry

Detailed Description

A simple invertible controller that computes a forward kinematic transform.

Warning

The functionality provided by this schema is very limited, subject to change, and not yet ready for production use.

An FK controller takes as inputs scalar translate and rotate attributes and parent and default spaces, and computes a posed space that can be used to drive model posing. The parent space input allows one ExecIrFkController to be the child of another, linking them in a hierarchy. A hierarchy of FK controllers functions like a transform hierarchy, with the child inheriting the transformation of the parent. The resulting network of controllers can be used collectively to pose a model or some part of a model, such as an arm.

An FK controller also defines an inverse computation that takes as inputs a desired posed space and the parent and default spaces, and computes the FK attribute values that produce the desired pose. This capability enables authoring operations that need to compute inverses. E.g., a model can be posed by multiple rigs, and inversion can be used to compute the compensating input values needed to switch from one rig to another, while maintaining the same pose.

For any described attribute Fallback Value or Allowed Values below that are text/tokens, the actual token is published and defined in ExecIrTokens. So to set an attribute to the value "rightHanded", use ExecIrTokens->rightHanded as the value.

Definition at line 68 of file fkController.h.

Constructor & Destructor Documentation

ExecIrFkController() [1/2]

ExecIrFkController ( const UsdPrim & prim = UsdPrim() )

inlineexplicit

Construct a ExecIrFkController on UsdPrim prim .

Equivalent to ExecIrFkController::Get(prim.GetStage(), prim.GetPath()) for a valid prim, but will not immediately throw an error for an invalid prim

Definition at line 80 of file fkController.h.

ExecIrFkController() [2/2]

ExecIrFkController ( const UsdSchemaBase & schemaObj )

inlineexplicit

Construct a ExecIrFkController on the prim held by schemaObj .

Should be preferred over ExecIrFkController(schemaObj.GetPrim()), as it preserves SchemaBase state.

Definition at line 88 of file fkController.h.

~ExecIrFkController()

virtual EXECIR_API ~ExecIrFkController ( )

virtual

Destructor.

Member Function Documentation

_GetSchemaKind()

EXECIR_API UsdSchemaKind _GetSchemaKind ( ) const

overrideprotectedvirtual

Returns the kind of schema this class belongs to.

See also

UsdSchemaKind

Reimplemented from ExecIrController.

CreateInDefaultSpaceAttr()

EXECIR_API UsdAttribute CreateInDefaultSpaceAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false ) const

See GetInDefaultSpaceAttr(), and also Create vs Get Property Methods for when to use Get vs Create.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

CreateInRotationOrderAttr()

EXECIR_API UsdAttribute CreateInRotationOrderAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false ) const

See GetInRotationOrderAttr(), and also Create vs Get Property Methods for when to use Get vs Create.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

CreateInRspinAttr()

EXECIR_API UsdAttribute CreateInRspinAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false ) const

See GetInRspinAttr(), and also Create vs Get Property Methods for when to use Get vs Create.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

CreateInRxAttr()

EXECIR_API UsdAttribute CreateInRxAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false ) const

See GetInRxAttr(), and also Create vs Get Property Methods for when to use Get vs Create.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

CreateInRyAttr()

EXECIR_API UsdAttribute CreateInRyAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false ) const

See GetInRyAttr(), and also Create vs Get Property Methods for when to use Get vs Create.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

CreateInRzAttr()

EXECIR_API UsdAttribute CreateInRzAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false ) const

See GetInRzAttr(), and also Create vs Get Property Methods for when to use Get vs Create.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

CreateInTxAttr()

EXECIR_API UsdAttribute CreateInTxAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false ) const

See GetInTxAttr(), and also Create vs Get Property Methods for when to use Get vs Create.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

CreateInTyAttr()

EXECIR_API UsdAttribute CreateInTyAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false ) const

See GetInTyAttr(), and also Create vs Get Property Methods for when to use Get vs Create.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

CreateInTzAttr()

EXECIR_API UsdAttribute CreateInTzAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false ) const

See GetInTzAttr(), and also Create vs Get Property Methods for when to use Get vs Create.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

CreateOutDefaultSpaceAttr()

EXECIR_API UsdAttribute CreateOutDefaultSpaceAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false ) const

See GetOutDefaultSpaceAttr(), and also Create vs Get Property Methods for when to use Get vs Create.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

CreateOutSpaceAttr()

EXECIR_API UsdAttribute CreateOutSpaceAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false ) const

See GetOutSpaceAttr(), and also Create vs Get Property Methods for when to use Get vs Create.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

CreateParentInDefaultSpaceAttr()

EXECIR_API UsdAttribute CreateParentInDefaultSpaceAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false ) const

See GetParentInDefaultSpaceAttr(), and also Create vs Get Property Methods for when to use Get vs Create.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

CreateParentInSpaceAttr()

EXECIR_API UsdAttribute CreateParentInSpaceAttr	(	VtValue const &	defaultValue = VtValue(),
		bool	writeSparsely = false ) const

See GetParentInSpaceAttr(), and also Create vs Get Property Methods for when to use Get vs Create.

If specified, author defaultValue as the attribute's default, sparsely (when it makes sense to do so) if writeSparsely is true - the default for writeSparsely is false.

Define()

static EXECIR_API ExecIrFkController Define ( const UsdStagePtr & stage, const SdfPath & path )

static

Attempt to ensure a UsdPrim adhering to this schema at path is defined (according to UsdPrim::IsDefined()) on this stage.

If a prim adhering to this schema at path is already defined on this stage, return that prim. Otherwise author an SdfPrimSpec with specifier == SdfSpecifierDef and this schema's prim type name for the prim at path at the current EditTarget. Author SdfPrimSpec s with specifier == SdfSpecifierDef and empty typeName at the current EditTarget for any nonexistent, or existing but not Defined ancestors.

The given path must be an absolute prim path that does not contain any variant selections.

If it is impossible to author any of the necessary PrimSpecs, (for example, in case path cannot map to the current UsdEditTarget's namespace) issue an error and return an invalid UsdPrim.

Note that this method may return a defined prim whose typeName does not specify this schema class, in case a stronger typeName opinion overrides the opinion at the current EditTarget.

Get()

static EXECIR_API ExecIrFkController Get ( const UsdStagePtr & stage, const SdfPath & path )

static

Return a ExecIrFkController holding the prim adhering to this schema at path on stage.

If no prim exists at path on stage, or if the prim at that path does not adhere to this schema, return an invalid schema object. This is shorthand for the following:

ExecIrFkController(stage->GetPrimAtPath(path));

GetInDefaultSpaceAttr()

EXECIR_API UsdAttribute GetInDefaultSpaceAttr

(

)

const

A local-to-world space transform representing the "zero" position for posing.

Declaration	matrix4d in:defaultSpace = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )
C++ Type	GfMatrix4d
Usd Type	SdfValueTypeNames->Matrix4d

GetInRotationOrderAttr()

EXECIR_API UsdAttribute GetInRotationOrderAttr

(

)

const

Declaration	token in:rotationOrder = "XYZ"
C++ Type	TfToken
Usd Type	SdfValueTypeNames->Token
Allowed Values	XYZ, XZY, YXZ, YZX, ZXY, ZYX

GetInRspinAttr()

EXECIR_API UsdAttribute GetInRspinAttr

(

)

const

The rotation attribute that gets zeroed out when solving for rotation values.

Declaration	double in:rspin = 0
C++ Type	double
Usd Type	SdfValueTypeNames->Double

GetInRxAttr()

EXECIR_API UsdAttribute GetInRxAttr

(

)

const

Declaration	double in:rx = 0
C++ Type	double
Usd Type	SdfValueTypeNames->Double

GetInRyAttr()

EXECIR_API UsdAttribute GetInRyAttr

(

)

const

Declaration	double in:ry = 0
C++ Type	double
Usd Type	SdfValueTypeNames->Double

GetInRzAttr()

EXECIR_API UsdAttribute GetInRzAttr

(

)

const

Declaration	double in:rz = 0
C++ Type	double
Usd Type	SdfValueTypeNames->Double

GetInTxAttr()

EXECIR_API UsdAttribute GetInTxAttr

(

)

const

Declaration	double in:tx = 0
C++ Type	double
Usd Type	SdfValueTypeNames->Double

GetInTyAttr()

EXECIR_API UsdAttribute GetInTyAttr

(

)

const

Declaration	double in:ty = 0
C++ Type	double
Usd Type	SdfValueTypeNames->Double

GetInTzAttr()

EXECIR_API UsdAttribute GetInTzAttr

(

)

const

Declaration	double in:tz = 0
C++ Type	double
Usd Type	SdfValueTypeNames->Double

GetOutDefaultSpaceAttr()

EXECIR_API UsdAttribute GetOutDefaultSpaceAttr

(

)

const

Passes through the value of the 'in:defaultSpace' attribute.

Declaration	matrix4d out:defaultSpace = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )
C++ Type	GfMatrix4d
Usd Type	SdfValueTypeNames->Matrix4d

GetOutSpaceAttr()

EXECIR_API UsdAttribute GetOutSpaceAttr

(

)

const

A 4x4 matrix that represents the computed output space produced by the controller.

Declaration	matrix4d out:space = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )
C++ Type	GfMatrix4d
Usd Type	SdfValueTypeNames->Matrix4d

GetParentInDefaultSpaceAttr()

EXECIR_API UsdAttribute GetParentInDefaultSpaceAttr

(

)

const

If the FK controller has a parent controller, this attribute takes the parent's default space as input.

Declaration	matrix4d parentIn:defaultSpace = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )
C++ Type	GfMatrix4d
Usd Type	SdfValueTypeNames->Matrix4d

GetParentInSpaceAttr()

EXECIR_API UsdAttribute GetParentInSpaceAttr

(

)

const

If the FK controller has a parent controller, this attribute takes the parent's posed space as input.

Declaration	matrix4d parentIn:space = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )
C++ Type	GfMatrix4d
Usd Type	SdfValueTypeNames->Matrix4d

GetSchemaAttributeNames()

static EXECIR_API const TfTokenVector & GetSchemaAttributeNames ( bool includeInherited = true )

static

Return a vector of names of all pre-declared attributes for this schema class and all its ancestor classes.

Does not include attributes that may be authored by custom/extended methods of the schemas involved.

Friends And Related Symbol Documentation

UsdSchemaRegistry

friend class UsdSchemaRegistry

friend

Definition at line 152 of file fkController.h.

Member Data Documentation

schemaKind

const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped

static

Compile time constant representing what kind of schema this class is.

See also

UsdSchemaKind

Definition at line 74 of file fkController.h.

---

The documentation for this class was generated from the following file:

• pxr/exec/execIr/fkController.h