Template Class IkSolution

Inheritance Relationships

Base Type

Class Documentation

template<typename T>
class IkSolution : public ikfast::IkSolutionBase<T>

Default implementation of IkSolutionBase.

Public Functions

inline IkSolution(const std::vector<IkSingleDOFSolutionBase<T>> &vinfos, const std::vector<int> &vfree)
inline virtual void GetSolution(T *solution, const T *freevalues) const

gets a concrete solution

Parameters:

  • solution – [out] the result

  • freevalues – [in] values for the free parameters \se GetFree

inline virtual void GetSolution(std::vector<T> &solution, const std::vector<T> &freevalues) const

std::vector version of GetSolution

inline virtual const std::vector<int> &GetFree() const

Gets the indices of the configuration space that have to be preset before a full solution can be returned.

Returns:

vector of indices indicating the free parameters

inline virtual int GetDOF() const

the dof of the solution

inline virtual void Validate() const
inline virtual void GetSolutionIndices(std::vector<unsigned int> &v) const

Public Members

std::vector<IkSingleDOFSolutionBase<T>> _vbasesol

solution and their offsets if joints are mimicked

std::vector<int> _vfree