Class IKSolver

• Defined in File ik_solver.hpp

Inheritance Relationships

Derived Type

• public pfield::XArmIKSolver (Class XArmIKSolver)

Class Documentation

class IKSolver

Subclassed by pfield::XArmIKSolver

Public Functions

inline explicit IKSolver(const std::string &name)

virtual ~IKSolver() = default

virtual 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) = 0

virtual bool computeJacobian(const std::vector<double> &jointPositions, Eigen::Matrix<double, 6, Eigen::Dynamic> &J) = 0

virtual std::vector<double> getHomeConfiguration() const = 0

virtual std::vector<std::string> getJointNames() const = 0

inline virtual std::string getName() const

Protected Attributes

std::string name