| 54 | #endif |
| 55 | |
| 56 | void Reset(Tree& tree, Jacobian* m_ikJacobian) |
| 57 | { |
| 58 | AxesOn = false; |
| 59 | |
| 60 | Scale = 1.0; |
| 61 | Scale2 = 0.0; /* because add 1. to it in Display() */ |
| 62 | |
| 63 | JointLimitsOn = true; |
| 64 | RestPositionOn = false; |
| 65 | UseJacobianTargets1 = false; |
| 66 | |
| 67 | tree.Init(); |
| 68 | tree.Compute(); |
| 69 | m_ikJacobian->Reset(); |
| 70 | } |
| 71 | |
| 72 | // Update target positions |
| 73 |