Template Class IkSolutionListBase

• Defined in File ikfast.h

Inheritance Relationships

Derived Type

• public ikfast::IkSolutionList< T > (Template Class IkSolutionList)

Class Documentation

template<typename T>
class IkSolutionListBase

manages all the solutions

Subclassed by ikfast::IkSolutionList< T >

Public Functions

inline virtual ~IkSolutionListBase()

virtual size_t AddSolution(const std::vector<IkSingleDOFSolutionBase<T>> &vinfos, const std::vector<int> &vfree) = 0

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.

virtual const IkSolutionBase<T> &GetSolution(size_t index) const = 0

returns the solution pointer

virtual size_t GetNumSolutions() const = 0

returns the number of solutions stored

virtual void Clear() = 0

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