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 |
Definition at line 30 of file ikfast_kinematics_plugin.cpp.
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.
cob3_arm_kinematics::ikfast_solver< T >::ikfast_solver | ( | ik_type | ik, | |
int | numJoints | |||
) | [inline] |
Definition at line 33 of file ikfast_kinematics_plugin.cpp.
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.
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.
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.
ik_type cob3_arm_kinematics::ikfast_solver< T >::ik [private] |
Definition at line 76 of file ikfast_kinematics_plugin.cpp.
int cob3_arm_kinematics::ikfast_solver< T >::numJoints [private] |
Definition at line 78 of file ikfast_kinematics_plugin.cpp.
std::vector<T> cob3_arm_kinematics::ikfast_solver< T >::solutions [private] |
Definition at line 77 of file ikfast_kinematics_plugin.cpp.