lwr_arm_kinematics::ikfast_solver< T > Class Template Reference

Inheritance diagram for lwr_arm_kinematics::ikfast_solver< T >:

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

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Detailed Description

template<class T>
class lwr_arm_kinematics::ikfast_solver< T >

Definition at line 29 of file lwr_kinematics_plugin.cpp.

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Member Typedef Documentation

template<class T>

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

Definition at line 31 of file lwr_kinematics_plugin.cpp.

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Constructor & Destructor Documentation

template<class T>

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

Definition at line 32 of file lwr_kinematics_plugin.cpp.

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Member Function Documentation

template<class T>

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

Implements lwr_arm_kinematics::ik_solver_base.

Definition at line 54 of file lwr_kinematics_plugin.cpp.

template<class T>

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

Implements lwr_arm_kinematics::ik_solver_base.

Definition at line 40 of file lwr_kinematics_plugin.cpp.

template<class T>

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

Implements lwr_arm_kinematics::ik_solver_base.

Definition at line 33 of file lwr_kinematics_plugin.cpp.

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Member Data Documentation

template<class T>

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

Definition at line 76 of file lwr_kinematics_plugin.cpp.

template<class T>

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

Definition at line 78 of file lwr_kinematics_plugin.cpp.

template<class T>

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

Definition at line 77 of file lwr_kinematics_plugin.cpp.

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

• lwr_kinematics_plugin.cpp