A implementation of the Optimized Forward Kinematic Tree as a state solver. More...
#include <tesseract_common/macros.h>#include <console_bridge/console.h>#include <boost/graph/depth_first_search.hpp>#include <tesseract_state_solver/ofkt/ofkt_state_solver.h>#include <tesseract_state_solver/ofkt/ofkt_node.h>#include <tesseract_state_solver/ofkt/ofkt_nodes.h>#include <tesseract_scene_graph/graph.h>#include <tesseract_scene_graph/link.h>#include <tesseract_scene_graph/joint.h>#include <tesseract_common/utils.h>#include <mutex>
Include dependency graph for ofkt_state_solver.cpp:
Go to the source code of this file.
Classes | |
| struct | tesseract_scene_graph::ofkt_builder |
| Every time a vertex is visited for the first time add a new node to the tree. More... | |
Namespaces | |
| tesseract_scene_graph | |
Detailed Description
A implementation of the Optimized Forward Kinematic Tree as a state solver.
This is based on the paper "A Forward Kinematics Data Structure for Efficient Evolutionary Inverse Kinematics".
Starke, S., Hendrich, N., & Zhang, J. (2018). A Forward Kinematics Data Structure for Efficient Evolutionary Inverse Kinematics. In Computational Kinematics (pp. 560-568). Springer, Cham.
- Date
- August 24, 2020
- Version
- TODO
- Bug:
- No known bugs
- Copyright
- Copyright (c) 2020, Southwest Research Institute
- License
- Software License Agreement (Apache License)
- Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
- Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
Definition in file ofkt_state_solver.cpp.