Public Member Functions
const std::vector< int > &	GetFree () const
void	GetSolution (IKReal psolution, const IKReal pfree) const
void	GetSolutionIndices (std::vector< unsigned int > &v) const
bool	Validate () const
Public Attributes
std::vector< VARIABLE >	basesol
	solution and their offsets if joints are mimiced
std::vector< int >	vfree

Detailed Description

Definition at line 26 of file openrave_ik.h.

Member Function Documentation

const std::vector< int > & IKSolution::GetFree ( ) const

Gets the free parameters the solution requires to be set before a full solution can be returned

Definition at line 123 of file ik_pr2_rightarm.cpp.

void IKSolution::GetSolution	(	IKReal *	psolution,
		const IKReal *	pfree
	)		const

Gets a solution given its free parameters

Parameters:

pfree The free parameters required, range is in [-pi,pi]

Definition at line 104 of file ik_pr2_rightarm.cpp.

void IKSolution::GetSolutionIndices ( std::vector< unsigned int > & v ) const

Definition at line 143 of file ik_pr2_rightarm.cpp.

bool IKSolution::Validate ( ) const

Definition at line 126 of file ik_pr2_rightarm.cpp.

solution and their offsets if joints are mimiced

Definition at line 36 of file openrave_ik.h.

Definition at line 37 of file openrave_ik.h.

The documentation for this class was generated from the following files: