The discrete solutions are returned in this structure. More...
#include <ikfast.h>
Inheritance diagram for ikfast::IkSolutionBase< T >:
Public Member Functions | |
| virtual const int | GetDOF () const =0 |
| the dof of the solution | |
| virtual const std::vector< int > & | GetFree () const =0 |
| 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 =0 |
| gets a concrete solution | |
| virtual void | GetSolution (std::vector< T > &solution, const std::vector< T > &freevalues) const |
| std::vector version of GetSolution | |
| virtual | ~IkSolutionBase () |
Detailed Description
template<typename T>
class ikfast::IkSolutionBase< T >
The discrete solutions are returned in this structure.
Sometimes the joint axes of the robot can align allowing an infinite number of solutions. Stores all these solutions in the form of free variables that the user has to set when querying the solution. Its prototype is:
Constructor & Destructor Documentation
template<typename T>
| virtual ikfast::IkSolutionBase< T >::~IkSolutionBase | ( | ) | [inline, virtual] |
Member Function Documentation
template<typename T>
| virtual const int ikfast::IkSolutionBase< T >::GetDOF | ( | ) | const [pure virtual] |
the dof of the solution
Implemented in ikfast::IkSolution< T >.
template<typename T>
| virtual const std::vector<int>& ikfast::IkSolutionBase< T >::GetFree | ( | ) | const [pure 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
Implemented in ikfast::IkSolution< T >.
template<typename T>
| virtual void ikfast::IkSolutionBase< T >::GetSolution | ( | T * | solution, |
| const T * | freevalues | ||
| ) | const [pure virtual] |
gets a concrete solution
- Parameters:
-
[out] solution the result [in] freevalues values for the free parameters GetFree
Implemented in ikfast::IkSolution< T >.
template<typename T>
| virtual void ikfast::IkSolutionBase< T >::GetSolution | ( | std::vector< T > & | solution, |
| const std::vector< T > & | freevalues | ||
| ) | const [inline, virtual] |
std::vector version of GetSolution
Reimplemented in ikfast::IkSolution< T >.
The documentation for this class was generated from the following file: