Template Class IkSingleDOFSolutionBase

• Defined in File ikfast.h

Class Documentation

template<typename T>
class IkSingleDOFSolutionBase

holds the solution for a single dof

Public Functions

inline IkSingleDOFSolutionBase()

Public Members

T fmul

T foffset

joint value is fmul*sol[freeind]+foffset

signed char freeind

if >= 0, mimics another joint

unsigned char jointtype

joint type, 0x01 is revolute, 0x11 is slider

unsigned char maxsolutions

max possible indices, 0 if controlled by free index or a free joint itself

unsigned char indices[5]

unique index of the solution used to keep track on what part it came from. sometimes a