Class NullIKSolver
Defined in File null_motion_plugin.hpp
Inheritance Relationships
Base Type
public pfield::IKSolver
Class Documentation
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class NullIKSolver : public pfield::IKSolver
Public Functions
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inline NullIKSolver()
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~NullIKSolver() override = default
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inline bool solve(const Eigen::Isometry3d &targetPose, const std::vector<double> &seed, std::vector<double> &solution, Eigen::Matrix<double, 6, Eigen::Dynamic> &J, std::string &errorMsg) override
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inline bool computeJacobian(const std::vector<double> &jointPositions, Eigen::Matrix<double, 6, Eigen::Dynamic> &J) override
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inline std::vector<std::string> getJointNames() const override
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inline std::vector<double> getHomeConfiguration() const override
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inline NullIKSolver()