The discrete solutions are returned in this structure. More...
#include <ikfast.h>
Public Member Functions | |
| virtual const int | GetDOF () const =0 |
| the dof of the solution | |
| 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 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 (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 void | GetSolution (std::vector< T > &solution, const std::vector< T > &freevalues) const |
| std::vector version of GetSolution | |
| virtual | ~IkSolutionBase () |
| 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:
Definition at line 65 of file m430ia2f_kinematics/include/ikfast.h.
Constructor & Destructor Documentation
| virtual ikfast::IkSolutionBase< T >::~IkSolutionBase | ( | ) | [inline, virtual] |
Definition at line 68 of file m430ia2f_kinematics/include/ikfast.h.
| virtual ikfast::IkSolutionBase< T >::~IkSolutionBase | ( | ) | [inline, virtual] |
Definition at line 68 of file m430ia2p_kinematics/include/ikfast.h.
Member Function Documentation
| virtual const int ikfast::IkSolutionBase< T >::GetDOF | ( | ) | const [pure virtual] |
the dof of the solution
Implemented in ikfast::IkSolution< T >, and ikfast::IkSolution< T >.
| virtual const int ikfast::IkSolutionBase< T >::GetDOF | ( | ) | const [pure virtual] |
the dof of the solution
Implemented in ikfast::IkSolution< T >, and ikfast::IkSolution< 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 >, and ikfast::IkSolution< 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 >, and ikfast::IkSolution< 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 >, and ikfast::IkSolution< 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 >, and ikfast::IkSolution< 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 >, and ikfast::IkSolution< T >.
Definition at line 77 of file m430ia2p_kinematics/include/ikfast.h.
| 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 >, and ikfast::IkSolution< T >.
Definition at line 77 of file m430ia2f_kinematics/include/ikfast.h.
The documentation for this class was generated from the following files: