#include <ik_fast_solver.h>
Public Types | |
| typedef bool(* | ik_type )(const IKReal *eetrans, const IKReal *eerot, const IKReal *pfree, std::vector< T > &vsolutions) |
Public Member Functions | |
| virtual void | getClosestSolution (const std::vector< double > &ik_seed_state, std::vector< double > &solution) |
| virtual void | getOrderedSolutions (const std::vector< double > &ik_seed_state, int num_solutions, std::vector< std::vector< double > > &solutions) |
| virtual void | getSolution (int i, std::vector< double > &solution) |
| double | harmonize (const std::vector< double > &ik_seed_state, std::vector< double > &solution) |
| double | harmonize_old (const std::vector< double > &ik_seed_state, std::vector< double > &solution) |
| ikfast_solver (ik_type ik, int numJoints) | |
| virtual int | solve (Eigen::Affine3d &pose, const std::vector< double > &vfree) |
Private Attributes | |
| ik_type | ik |
| int | numJoints |
| std::vector< T > | solutions |
Detailed Description
template<class T>
class moveit_setup_assistant::ikfast_solver< T >
Definition at line 25 of file ik_fast_solver.h.
Member Typedef Documentation
| typedef bool(* moveit_setup_assistant::ikfast_solver< T >::ik_type)(const IKReal *eetrans, const IKReal *eerot, const IKReal *pfree, std::vector< T > &vsolutions) |
Definition at line 27 of file ik_fast_solver.h.
Constructor & Destructor Documentation
| moveit_setup_assistant::ikfast_solver< T >::ikfast_solver | ( | ik_type | ik, |
| int | numJoints | ||
| ) | [inline] |
Definition at line 28 of file ik_fast_solver.h.
Member Function Documentation
| virtual void moveit_setup_assistant::ikfast_solver< T >::getClosestSolution | ( | const std::vector< double > & | ik_seed_state, |
| std::vector< double > & | solution | ||
| ) | [inline, virtual] |
Implements moveit_setup_assistant::ik_solver_base.
Definition at line 131 of file ik_fast_solver.h.
| virtual void moveit_setup_assistant::ikfast_solver< T >::getOrderedSolutions | ( | const std::vector< double > & | ik_seed_state, |
| int | num_solutions, | ||
| std::vector< std::vector< double > > & | solutions | ||
| ) | [inline, virtual] |
Implements moveit_setup_assistant::ik_solver_base.
Definition at line 111 of file ik_fast_solver.h.
| virtual void moveit_setup_assistant::ikfast_solver< T >::getSolution | ( | int | i, |
| std::vector< double > & | solution | ||
| ) | [inline, virtual] |
Implements moveit_setup_assistant::ik_solver_base.
Definition at line 58 of file ik_fast_solver.h.
| double moveit_setup_assistant::ikfast_solver< T >::harmonize | ( | const std::vector< double > & | ik_seed_state, |
| std::vector< double > & | solution | ||
| ) | [inline] |
Definition at line 71 of file ik_fast_solver.h.
| double moveit_setup_assistant::ikfast_solver< T >::harmonize_old | ( | const std::vector< double > & | ik_seed_state, |
| std::vector< double > & | solution | ||
| ) | [inline] |
Definition at line 99 of file ik_fast_solver.h.
| virtual int moveit_setup_assistant::ikfast_solver< T >::solve | ( | Eigen::Affine3d & | pose, |
| const std::vector< double > & | vfree | ||
| ) | [inline, virtual] |
Implements moveit_setup_assistant::ik_solver_base.
Definition at line 30 of file ik_fast_solver.h.
Member Data Documentation
ik_type moveit_setup_assistant::ikfast_solver< T >::ik [private] |
Definition at line 154 of file ik_fast_solver.h.
int moveit_setup_assistant::ikfast_solver< T >::numJoints [private] |
Definition at line 156 of file ik_fast_solver.h.
std::vector<T> moveit_setup_assistant::ikfast_solver< T >::solutions [private] |
Definition at line 155 of file ik_fast_solver.h.
The documentation for this class was generated from the following file: