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 More... | |
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. More... | |
virtual void | GetSolution (T *solution, const T *freevalues) const =0 |
gets a concrete solution More... | |
virtual void | GetSolution (std::vector< T > &solution, const std::vector< T > &freevalues) const |
std::vector version of GetSolution More... | |
virtual | ~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:
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inlinevirtual |
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pure virtual |
the dof of the solution
Implemented in ikfast::IkSolution< T >.
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pure virtual |
Gets the indices of the configuration space that have to be preset before a full solution can be returned.
Implemented in ikfast::IkSolution< T >.
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pure virtual |
gets a concrete solution
[out] | solution | the result |
[in] | freevalues | values for the free parameters GetFree |
Implemented in ikfast::IkSolution< T >.
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inlinevirtual |
std::vector version of GetSolution
Reimplemented in ikfast::IkSolution< T >.