Default implementation of IkSolutionBase. More...
#include <ikfast.h>
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 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 (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 |
| 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 |
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 m20ia10l_kinematics/include/ikfast.h.
Constructor & Destructor Documentation
| ikfast::IkSolution< T >::IkSolution | ( | const std::vector< IkSingleDOFSolutionBase< T > > & | vinfos, |
| const std::vector< int > & | vfree | ||
| ) | [inline] |
Definition at line 151 of file m20ia10l_kinematics/include/ikfast.h.
| ikfast::IkSolution< T >::IkSolution | ( | const std::vector< IkSingleDOFSolutionBase< T > > & | vinfos, |
| const std::vector< int > & | vfree | ||
| ) | [inline] |
Definition at line 151 of file m20ia_kinematics/include/ikfast.h.
Member Function Documentation
| 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 m20ia10l_kinematics/include/ikfast.h.
| 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 m20ia_kinematics/include/ikfast.h.
| 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 m20ia_kinematics/include/ikfast.h.
| 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 m20ia10l_kinematics/include/ikfast.h.
| 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 m20ia10l_kinematics/include/ikfast.h.
| 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 m20ia_kinematics/include/ikfast.h.
| 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 m20ia_kinematics/include/ikfast.h.
| 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 m20ia10l_kinematics/include/ikfast.h.
| virtual void ikfast::IkSolution< T >::GetSolutionIndices | ( | std::vector< unsigned int > & | v | ) | const [inline, virtual] |
Definition at line 200 of file m20ia10l_kinematics/include/ikfast.h.
| virtual void ikfast::IkSolution< T >::GetSolutionIndices | ( | std::vector< unsigned int > & | v | ) | const [inline, virtual] |
Definition at line 200 of file m20ia_kinematics/include/ikfast.h.
| virtual void ikfast::IkSolution< T >::Validate | ( | ) | const [inline, virtual] |
Definition at line 184 of file m20ia10l_kinematics/include/ikfast.h.
| virtual void ikfast::IkSolution< T >::Validate | ( | ) | const [inline, virtual] |
Definition at line 184 of file m20ia_kinematics/include/ikfast.h.
Member Data Documentation
| std::vector< IkSingleDOFSolutionBase< T > > ikfast::IkSolution< T >::_vbasesol |
solution and their offsets if joints are mimiced
Definition at line 223 of file m20ia10l_kinematics/include/ikfast.h.
| std::vector< int > ikfast::IkSolution< T >::_vfree |
Definition at line 224 of file m20ia10l_kinematics/include/ikfast.h.
The documentation for this class was generated from the following files: