Template Class IkSolutionList

Inheritance Relationships

Base Type

Class Documentation

template<typename T>
class IkSolutionList : public ikfast::IkSolutionListBase<T>

Default implementation of IkSolutionListBase.

Public Functions

inline virtual size_t AddSolution(const std::vector<IkSingleDOFSolutionBase<T>> &vinfos, const std::vector<int> &vfree)

add one solution and return its index for later retrieval

Parameters:

  • vinfos – Solution data for each degree of freedom of the manipulator

  • vfree – If the solution represents an infinite space, holds free parameters of the solution that users can freely set.

inline virtual const IkSolutionBase<T> &GetSolution(size_t index) const

returns the solution pointer

inline virtual size_t GetNumSolutions() const

returns the number of solutions stored

inline virtual void Clear()

clears all current solutions, note that any memory addresses returned from GetSolution will be invalidated.

Protected Attributes

std::list<IkSolution<T>> _listsolutions