Public Member Functions | Public Attributes
ikfast::IkSolution< T > Class Template Reference

Default implementation of IkSolutionBase. More...

#include <ikfast.h>

Inheritance diagram for ikfast::IkSolution< T >:
Inheritance graph
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List of all members.

Public Member Functions

virtual const int GetDOF () const
 the dof of the solution
virtual const std::vector< int > & GetFree () const
 Gets the indices of the configuration space that have to be preset before a full solution can be returned.
virtual void GetSolution (T *solution, const T *freevalues) const
 gets a concrete solution
virtual void GetSolution (std::vector< T > &solution, const std::vector< T > &freevalues) const
 std::vector version of GetSolution
virtual void GetSolutionIndices (std::vector< unsigned int > &v) const
 IkSolution (const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)
virtual void Validate () const

Public Attributes

std::vector
< IkSingleDOFSolutionBase< T > > 
_vbasesol
 solution and their offsets if joints are mimiced
std::vector< int > _vfree

Detailed Description

template<typename T>
class ikfast::IkSolution< T >

Default implementation of IkSolutionBase.

Definition at line 169 of file ikfast.h.


Constructor & Destructor Documentation

template<typename T >
ikfast::IkSolution< T >::IkSolution ( const std::vector< IkSingleDOFSolutionBase< T > > &  vinfos,
const std::vector< int > &  vfree 
) [inline]

Definition at line 172 of file ikfast.h.


Member Function Documentation

template<typename T >
virtual const int ikfast::IkSolution< T >::GetDOF ( ) const [inline, virtual]

the dof of the solution

Implements ikfast::IkSolutionBase< T >.

Definition at line 209 of file ikfast.h.

template<typename T >
virtual const std::vector<int>& ikfast::IkSolution< T >::GetFree ( ) const [inline, virtual]

Gets the indices of the configuration space that have to be preset before a full solution can be returned.

Returns:
vector of indices indicating the free parameters

Implements ikfast::IkSolutionBase< T >.

Definition at line 205 of file ikfast.h.

template<typename T >
virtual void ikfast::IkSolution< T >::GetSolution ( T solution,
const T freevalues 
) const [inline, virtual]

gets a concrete solution

Parameters:
[out]solutionthe result
[in]freevaluesvalues for the free parameters GetFree

Implements ikfast::IkSolutionBase< T >.

Definition at line 178 of file ikfast.h.

template<typename T >
virtual void ikfast::IkSolution< T >::GetSolution ( std::vector< T > &  solution,
const std::vector< T > &  freevalues 
) const [inline, virtual]

std::vector version of GetSolution

Reimplemented from ikfast::IkSolutionBase< T >.

Definition at line 199 of file ikfast.h.

template<typename T >
virtual void ikfast::IkSolution< T >::GetSolutionIndices ( std::vector< unsigned int > &  v) const [inline, virtual]

Definition at line 236 of file ikfast.h.

template<typename T >
virtual void ikfast::IkSolution< T >::Validate ( ) const [inline, virtual]

Definition at line 214 of file ikfast.h.


Member Data Documentation

template<typename T >
std::vector<IkSingleDOFSolutionBase<T> > ikfast::IkSolution< T >::_vbasesol

solution and their offsets if joints are mimiced

Definition at line 267 of file ikfast.h.

template<typename T >
std::vector<int> ikfast::IkSolution< T >::_vfree

Definition at line 268 of file ikfast.h.


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


moveit_kinematics
Author(s): Dave Coleman , Ioan Sucan , Sachin Chitta
autogenerated on Mon Apr 23 2018 10:25:23