Template Class IkSolutionBase

Inheritance Relationships

Derived Type

Class Documentation

template<typename T>
class IkSolutionBase

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:

Subclassed by ikfast::IkSolution< T >

Public Functions

inline virtual ~IkSolutionBase()
virtual void GetSolution(T *solution, const T *freevalues) const = 0

gets a concrete solution

Parameters:

  • solution – [out] the result

  • freevalues – [in] values for the free parameters \se GetFree

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

std::vector version of GetSolution

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.

Returns:

vector of indices indicating the free parameters

virtual int GetDOF() const = 0

the dof of the solution