cob3_arm_kinematics::ikfast_solver< T > Class Template Reference

Inheritance diagram for cob3_arm_kinematics::ikfast_solver< T >:
Inheritance graph
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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:
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cob_manipulator
Author(s): Alexander Bubeck
autogenerated on Fri Jan 11 09:58:14 2013