cob3_arm_kinematics::ikfast_solver< T > Class Template Reference

Inheritance diagram for cob3_arm_kinematics::ikfast_solver< T >:

[legend]

List of all members.

Public Types
typedef bool(*	ik_type )(const IKReal *eetrans, const IKReal *eerot, const IKReal *pfree, std::vector< T > &vsolutions)
Public Member Functions
virtual void	getClosestSolution (const std::vector< double > &ik_seed_state, std::vector< double > &solution)
virtual void	getSolution (int i, std::vector< double > &solution)
	ikfast_solver (ik_type ik, int numJoints)
virtual int	solve (KDL::Frame &pose_frame, const std::vector< double > &vfree)
Private Attributes
ik_type	ik
int	numJoints
std::vector< T >	solutions

---

Detailed Description

template<class T>
class cob3_arm_kinematics::ikfast_solver< T >

Definition at line 30 of file ikfast_kinematics_plugin.cpp.

---

Member Typedef Documentation

template<class T>

typedef bool(* cob3_arm_kinematics::ikfast_solver< T >::ik_type)(const IKReal *eetrans, const IKReal *eerot, const IKReal *pfree, std::vector< T > &vsolutions)

Definition at line 32 of file ikfast_kinematics_plugin.cpp.

---

Constructor & Destructor Documentation

template<class T>

cob3_arm_kinematics::ikfast_solver< T >::ikfast_solver	(	ik_type	ik,
		int	numJoints
	)			[inline]

Definition at line 33 of file ikfast_kinematics_plugin.cpp.

---

Member Function Documentation

template<class T>

virtual void cob3_arm_kinematics::ikfast_solver< T >::getClosestSolution	(	const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution
	)			[inline, virtual]

Implements cob3_arm_kinematics::ik_solver_base.

Definition at line 54 of file ikfast_kinematics_plugin.cpp.

template<class T>

virtual void cob3_arm_kinematics::ikfast_solver< T >::getSolution	(	int	i,
		std::vector< double > &	solution
	)			[inline, virtual]

Implements cob3_arm_kinematics::ik_solver_base.

Definition at line 41 of file ikfast_kinematics_plugin.cpp.

template<class T>

virtual int cob3_arm_kinematics::ikfast_solver< T >::solve	(	KDL::Frame &	pose_frame,
		const std::vector< double > &	vfree
	)			[inline, virtual]

Implements cob3_arm_kinematics::ik_solver_base.

Definition at line 34 of file ikfast_kinematics_plugin.cpp.

---

Member Data Documentation

template<class T>

ik_type cob3_arm_kinematics::ikfast_solver< T >::ik [private]

Definition at line 76 of file ikfast_kinematics_plugin.cpp.

template<class T>

int cob3_arm_kinematics::ikfast_solver< T >::numJoints [private]

Definition at line 78 of file ikfast_kinematics_plugin.cpp.

template<class T>

std::vector<T> cob3_arm_kinematics::ikfast_solver< T >::solutions [private]

Definition at line 77 of file ikfast_kinematics_plugin.cpp.

---

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

• ikfast_kinematics_plugin.cpp