#include <ik_fast_solver.h>
Inheritance diagram for arm_kinematics_constraint_aware::ikfast_solver< T >:
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) |
| double | harmonize (const std::vector< double > &ik_seed_state, std::vector< double > &solution) |
| double | harmonize_old (const std::vector< double > &ik_seed_state, 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 arm_kinematics_constraint_aware::ikfast_solver< T >
Definition at line 12 of file ik_fast_solver.h.
Member Typedef Documentation
template<class T >
| typedef bool(* arm_kinematics_constraint_aware::ikfast_solver< T >::ik_type)(const IKReal *eetrans, const IKReal *eerot, const IKReal *pfree, std::vector< T > &vsolutions) |
Definition at line 14 of file ik_fast_solver.h.
Constructor & Destructor Documentation
template<class T >
| arm_kinematics_constraint_aware::ikfast_solver< T >::ikfast_solver | ( | ik_type | ik, |
| int | numJoints | ||
| ) | [inline] |
Definition at line 15 of file ik_fast_solver.h.
Member Function Documentation
template<class T >
| virtual void arm_kinematics_constraint_aware::ikfast_solver< T >::getClosestSolution | ( | const std::vector< double > & | ik_seed_state, |
| std::vector< double > & | solution | ||
| ) | [inline, virtual] |
Implements arm_kinematics_constraint_aware::ik_solver_base.
Definition at line 113 of file ik_fast_solver.h.
template<class T >
| virtual void arm_kinematics_constraint_aware::ikfast_solver< T >::getSolution | ( | int | i, |
| std::vector< double > & | solution | ||
| ) | [inline, virtual] |
Implements arm_kinematics_constraint_aware::ik_solver_base.
Definition at line 44 of file ik_fast_solver.h.
template<class T >
| double arm_kinematics_constraint_aware::ikfast_solver< T >::harmonize | ( | const std::vector< double > & | ik_seed_state, |
| std::vector< double > & | solution | ||
| ) | [inline] |
Definition at line 57 of file ik_fast_solver.h.
template<class T >
| double arm_kinematics_constraint_aware::ikfast_solver< T >::harmonize_old | ( | const std::vector< double > & | ik_seed_state, |
| std::vector< double > & | solution | ||
| ) | [inline] |
Definition at line 78 of file ik_fast_solver.h.
template<class T >
| virtual int arm_kinematics_constraint_aware::ikfast_solver< T >::solve | ( | KDL::Frame & | pose_frame, |
| const std::vector< double > & | vfree | ||
| ) | [inline, virtual] |
Implements arm_kinematics_constraint_aware::ik_solver_base.
Definition at line 16 of file ik_fast_solver.h.
Member Data Documentation
template<class T >
ik_type arm_kinematics_constraint_aware::ikfast_solver< T >::ik [private] |
Definition at line 136 of file ik_fast_solver.h.
template<class T >
int arm_kinematics_constraint_aware::ikfast_solver< T >::numJoints [private] |
Definition at line 138 of file ik_fast_solver.h.
template<class T >
std::vector<T> arm_kinematics_constraint_aware::ikfast_solver< T >::solutions [private] |
Definition at line 137 of file ik_fast_solver.h.
The documentation for this class was generated from the following file: