lwr_arm_kinematics::lwr::IKSolution Class Reference

List of all members.

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

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Detailed Description

Definition at line 98 of file lwr_kinematics_plugin.cpp.

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Member Function Documentation

const std::vector<int>& lwr_arm_kinematics::lwr::IKSolution::GetFree

(

)

const [inline]

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

Returns:

vector of indices indicating the free parameters

Definition at line 122 of file lwr_kinematics_plugin.cpp.

void lwr_arm_kinematics::lwr::IKSolution::GetSolution	(	IKReal *	psolution,
		const IKReal *	pfree
	)		const [inline]

Gets a solution given its free parameters

Parameters:

pfree

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

Definition at line 103 of file lwr_kinematics_plugin.cpp.

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Member Data Documentation

std::vector<VARIABLE> lwr_arm_kinematics::lwr::IKSolution::basesol

solution and their offsets if joints are mimiced

Definition at line 132 of file lwr_kinematics_plugin.cpp.

std::vector<int> lwr_arm_kinematics::lwr::IKSolution::vfree

Definition at line 133 of file lwr_kinematics_plugin.cpp.

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

• ikfast_lwr.cpp