ikfast::IkSolutionBase< T > Class Template Reference

The discrete solutions are returned in this structure. More...

#include <ikfast.h>

Inheritance diagram for ikfast::IkSolutionBase< T >:

List of all members.

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 ()

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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 ikfast.h.

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Constructor & Destructor Documentation

template<typename T>

virtual ikfast::IkSolutionBase< T >::~IkSolutionBase

(

)

[inline, virtual]

Definition at line 68 of file ikfast.h.

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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 >.

Definition at line 77 of file ikfast.h.

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

• ikfast.h