ikfast::IkSolution< T > Class Template Reference

Default implementation of IkSolutionBase. More...

#include <ikfast.h>

Inheritance diagram for ikfast::IkSolution< T >:

List of all members.

Public Member Functions
virtual const int	GetDOF () const
	the dof of the solution
virtual const int	GetDOF () const
	the dof of the solution
virtual const int	GetDOF () const
	the dof of the solution
virtual const int	GetDOF () const
	the dof of the solution
virtual const std::vector< int > &	GetFree () const
	Gets the indices of the configuration space that have to be preset before a full solution can be returned.
virtual const std::vector< int > &	GetFree () const
	Gets the indices of the configuration space that have to be preset before a full solution can be returned.
virtual const std::vector< int > &	GetFree () const
	Gets the indices of the configuration space that have to be preset before a full solution can be returned.
virtual const std::vector< int > &	GetFree () const
	Gets the indices of the configuration space that have to be preset before a full solution can be returned.
virtual void	GetSolution (T *solution, const T *freevalues) const
	gets a concrete solution
virtual void	GetSolution (T *solution, const T *freevalues) const
	gets a concrete solution
virtual void	GetSolution (T *solution, const T *freevalues) const
	gets a concrete solution
virtual void	GetSolution (T *solution, const T *freevalues) const
	gets a concrete solution
virtual void	GetSolution (std::vector< T > &solution, const std::vector< T > &freevalues) const
	std::vector version of GetSolution
virtual void	GetSolution (std::vector< T > &solution, const std::vector< T > &freevalues) const
	std::vector version of GetSolution
virtual void	GetSolution (std::vector< T > &solution, const std::vector< T > &freevalues) const
	std::vector version of GetSolution
virtual void	GetSolution (std::vector< T > &solution, const std::vector< T > &freevalues) const
	std::vector version of GetSolution
virtual void	GetSolutionIndices (std::vector< unsigned int > &v) const
virtual void	GetSolutionIndices (std::vector< unsigned int > &v) const
virtual void	GetSolutionIndices (std::vector< unsigned int > &v) const
virtual void	GetSolutionIndices (std::vector< unsigned int > &v) const
	IkSolution (const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)
	IkSolution (const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)
	IkSolution (const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)
	IkSolution (const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)
virtual void	Validate () const
virtual void	Validate () const
virtual void	Validate () const
virtual void	Validate () const
Public Attributes
std::vector < IkSingleDOFSolutionBase< T > >	_vbasesol
	solution and their offsets if joints are mimiced
std::vector< int >	_vfree

---

Detailed Description

template<typename T>
class ikfast::IkSolution< T >

Default implementation of IkSolutionBase.

Definition at line 148 of file lrmate200ic5f_kinematics/include/ikfast.h.

---

Constructor & Destructor Documentation

template<typename T >

ikfast::IkSolution< T >::IkSolution	(	const std::vector< IkSingleDOFSolutionBase< T > > &	vinfos,
		const std::vector< int > &	vfree
	)		[inline]

Definition at line 151 of file lrmate200ic5f_kinematics/include/ikfast.h.

template<typename T >

ikfast::IkSolution< T >::IkSolution	(	const std::vector< IkSingleDOFSolutionBase< T > > &	vinfos,
		const std::vector< int > &	vfree
	)		[inline]

Definition at line 151 of file lrmate200ic5h_kinematics/include/ikfast.h.

template<typename T >

ikfast::IkSolution< T >::IkSolution	(	const std::vector< IkSingleDOFSolutionBase< T > > &	vinfos,
		const std::vector< int > &	vfree
	)		[inline]

Definition at line 151 of file lrmate200ic5l_kinematics/include/ikfast.h.

template<typename T >

ikfast::IkSolution< T >::IkSolution	(	const std::vector< IkSingleDOFSolutionBase< T > > &	vinfos,
		const std::vector< int > &	vfree
	)		[inline]

Definition at line 151 of file lrmate200ic_kinematics/include/ikfast.h.

---

Member Function Documentation

template<typename T >

virtual const int ikfast::IkSolution< T >::GetDOF

(

)

const [inline, virtual]

the dof of the solution

Implements ikfast::IkSolutionBase< T >.

Definition at line 180 of file lrmate200ic5f_kinematics/include/ikfast.h.

template<typename T >

virtual const int ikfast::IkSolution< T >::GetDOF

(

)

const [inline, virtual]

the dof of the solution

Implements ikfast::IkSolutionBase< T >.

Definition at line 180 of file lrmate200ic5h_kinematics/include/ikfast.h.

template<typename T >

virtual const int ikfast::IkSolution< T >::GetDOF

(

)

const [inline, virtual]

the dof of the solution

Implements ikfast::IkSolutionBase< T >.

Definition at line 180 of file lrmate200ic5l_kinematics/include/ikfast.h.

template<typename T >

virtual const int ikfast::IkSolution< T >::GetDOF

(

)

const [inline, virtual]

the dof of the solution

Implements ikfast::IkSolutionBase< T >.

Definition at line 180 of file lrmate200ic_kinematics/include/ikfast.h.

template<typename T >

virtual const std::vector<int>& ikfast::IkSolution< T >::GetFree

(

)

const [inline, virtual]

Gets the indices of the configuration space that have to be preset before a full solution can be returned.

Returns:

vector of indices indicating the free parameters

Implements ikfast::IkSolutionBase< T >.

Definition at line 177 of file lrmate200ic5h_kinematics/include/ikfast.h.

template<typename T >

virtual const std::vector<int>& ikfast::IkSolution< T >::GetFree

(

)

const [inline, virtual]

Gets the indices of the configuration space that have to be preset before a full solution can be returned.

Returns:

vector of indices indicating the free parameters

Implements ikfast::IkSolutionBase< T >.

Definition at line 177 of file lrmate200ic_kinematics/include/ikfast.h.

template<typename T >

virtual const std::vector<int>& ikfast::IkSolution< T >::GetFree

(

)

const [inline, virtual]

Gets the indices of the configuration space that have to be preset before a full solution can be returned.

Returns:

vector of indices indicating the free parameters

Implements ikfast::IkSolutionBase< T >.

Definition at line 177 of file lrmate200ic5f_kinematics/include/ikfast.h.

template<typename T >

virtual const std::vector<int>& ikfast::IkSolution< T >::GetFree

(

)

const [inline, virtual]

Gets the indices of the configuration space that have to be preset before a full solution can be returned.

Returns:

vector of indices indicating the free parameters

Implements ikfast::IkSolutionBase< T >.

Definition at line 177 of file lrmate200ic5l_kinematics/include/ikfast.h.

template<typename T >

virtual void ikfast::IkSolution< T >::GetSolution	(	T *	solution,
		const T *	freevalues
	)		const [inline, virtual]

gets a concrete solution

Parameters:

[out]	solution	the result
[in]	freevalues	values for the free parameters GetFree

Implements ikfast::IkSolutionBase< T >.

Definition at line 156 of file lrmate200ic_kinematics/include/ikfast.h.

template<typename T >

virtual void ikfast::IkSolution< T >::GetSolution	(	T *	solution,
		const T *	freevalues
	)		const [inline, virtual]

gets a concrete solution

Parameters:

[out]	solution	the result
[in]	freevalues	values for the free parameters GetFree

Implements ikfast::IkSolutionBase< T >.

Definition at line 156 of file lrmate200ic5l_kinematics/include/ikfast.h.

template<typename T >

virtual void ikfast::IkSolution< T >::GetSolution	(	T *	solution,
		const T *	freevalues
	)		const [inline, virtual]

gets a concrete solution

Parameters:

[out]	solution	the result
[in]	freevalues	values for the free parameters GetFree

Implements ikfast::IkSolutionBase< T >.

Definition at line 156 of file lrmate200ic5f_kinematics/include/ikfast.h.

template<typename T >

virtual void ikfast::IkSolution< T >::GetSolution	(	T *	solution,
		const T *	freevalues
	)		const [inline, virtual]

gets a concrete solution

Parameters:

[out]	solution	the result
[in]	freevalues	values for the free parameters GetFree

Implements ikfast::IkSolutionBase< T >.

Definition at line 156 of file lrmate200ic5h_kinematics/include/ikfast.h.

template<typename T >

virtual void ikfast::IkSolution< T >::GetSolution	(	std::vector< T > &	solution,
		const std::vector< T > &	freevalues
	)		const [inline, virtual]

std::vector version of GetSolution

Reimplemented from ikfast::IkSolutionBase< T >.

Definition at line 172 of file lrmate200ic5h_kinematics/include/ikfast.h.

template<typename T >

virtual void ikfast::IkSolution< T >::GetSolution	(	std::vector< T > &	solution,
		const std::vector< T > &	freevalues
	)		const [inline, virtual]

std::vector version of GetSolution

Reimplemented from ikfast::IkSolutionBase< T >.

Definition at line 172 of file lrmate200ic5f_kinematics/include/ikfast.h.

template<typename T >

virtual void ikfast::IkSolution< T >::GetSolution	(	std::vector< T > &	solution,
		const std::vector< T > &	freevalues
	)		const [inline, virtual]

std::vector version of GetSolution

Reimplemented from ikfast::IkSolutionBase< T >.

Definition at line 172 of file lrmate200ic_kinematics/include/ikfast.h.

template<typename T >

virtual void ikfast::IkSolution< T >::GetSolution	(	std::vector< T > &	solution,
		const std::vector< T > &	freevalues
	)		const [inline, virtual]

std::vector version of GetSolution

Reimplemented from ikfast::IkSolutionBase< T >.

Definition at line 172 of file lrmate200ic5l_kinematics/include/ikfast.h.

template<typename T >

virtual void ikfast::IkSolution< T >::GetSolutionIndices

(

std::vector< unsigned int > &

v

)

const [inline, virtual]

Definition at line 200 of file lrmate200ic5f_kinematics/include/ikfast.h.

template<typename T >

virtual void ikfast::IkSolution< T >::GetSolutionIndices

(

std::vector< unsigned int > &

v

)

const [inline, virtual]

Definition at line 200 of file lrmate200ic_kinematics/include/ikfast.h.

template<typename T >

virtual void ikfast::IkSolution< T >::GetSolutionIndices

(

std::vector< unsigned int > &

v

)

const [inline, virtual]

Definition at line 200 of file lrmate200ic5h_kinematics/include/ikfast.h.

template<typename T >

virtual void ikfast::IkSolution< T >::GetSolutionIndices

(

std::vector< unsigned int > &

v

)

const [inline, virtual]

Definition at line 200 of file lrmate200ic5l_kinematics/include/ikfast.h.

template<typename T >

virtual void ikfast::IkSolution< T >::Validate

(

)

const [inline, virtual]

Definition at line 184 of file lrmate200ic_kinematics/include/ikfast.h.

template<typename T >

virtual void ikfast::IkSolution< T >::Validate

(

)

const [inline, virtual]

Definition at line 184 of file lrmate200ic5l_kinematics/include/ikfast.h.

template<typename T >

virtual void ikfast::IkSolution< T >::Validate

(

)

const [inline, virtual]

Definition at line 184 of file lrmate200ic5f_kinematics/include/ikfast.h.

template<typename T >

virtual void ikfast::IkSolution< T >::Validate

(

)

const [inline, virtual]

Definition at line 184 of file lrmate200ic5h_kinematics/include/ikfast.h.

---

Member Data Documentation

template<typename T >

std::vector< IkSingleDOFSolutionBase< T > > ikfast::IkSolution< T >::_vbasesol

solution and their offsets if joints are mimiced

Definition at line 223 of file lrmate200ic5f_kinematics/include/ikfast.h.

template<typename T >

std::vector< int > ikfast::IkSolution< T >::_vfree

Definition at line 224 of file lrmate200ic5f_kinematics/include/ikfast.h.

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

• lrmate200ic5f_kinematics/include/ikfast.h
• lrmate200ic5h_kinematics/include/ikfast.h
• lrmate200ic5l_kinematics/include/ikfast.h
• lrmate200ic_kinematics/include/ikfast.h