#include <openrave_ik.h>
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< VARIABLE > | basesol |
solution and their offsets if joints are mimiced | |
std::vector< int > | vfree |
Definition at line 26 of file openrave_ik.h.
const std::vector< int > & IKSolution::GetFree | ( | ) | const |
Gets the free parameters the solution requires to be set before a full solution can be returned
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
pfree | The 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.
bool IKSolution::Validate | ( | ) | const |
Definition at line 126 of file ik_pr2_rightarm.cpp.
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.