Public Member Functions | Public Attributes
IKSolution Class Reference

#include <openrave_ik.h>

List of all members.

Public Member Functions

const std::vector< int > & GetFree () const
void GetSolution (IKReal *psolution, const IKReal *pfree) const
void GetSolutionIndices (std::vector< unsigned int > &v) const
bool Validate () const

Public Attributes

std::vector< VARIABLEbasesol
 solution and their offsets if joints are mimiced
std::vector< int > vfree

Detailed Description

Definition at line 26 of file openrave_ik.h.


Member Function Documentation

const std::vector< int > & IKSolution::GetFree ( ) const

Gets the free parameters the solution requires to be set before a full solution can be returned

Returns:
vector of indices indicating the free parameters

Definition at line 123 of file ik_pr2_rightarm.cpp.

void IKSolution::GetSolution ( IKReal psolution,
const IKReal pfree 
) const

Gets a solution given its free parameters

Parameters:
pfreeThe free parameters required, range is in [-pi,pi]

Definition at line 104 of file ik_pr2_rightarm.cpp.

void IKSolution::GetSolutionIndices ( std::vector< unsigned int > &  v) const

Definition at line 143 of file ik_pr2_rightarm.cpp.

Definition at line 126 of file ik_pr2_rightarm.cpp.


Member Data Documentation

solution and their offsets if joints are mimiced

Definition at line 36 of file openrave_ik.h.

Definition at line 37 of file openrave_ik.h.


The documentation for this class was generated from the following files:
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coverage_3d_arm_navigation
Author(s): Juergen Hess
autogenerated on Wed Dec 26 2012 15:25:57