ikfast::IkSolution< T > Class Template Reference

Default implementation of IkSolutionBase. More...

#include <ikfast.h>

Inheritance diagram for ikfast::IkSolution< T >:

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

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Detailed Description

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

Default implementation of IkSolutionBase.

Definition at line 169 of file ikfast.h.

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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.

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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]	solution	the result
[in]	freevalues	values 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.

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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.

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

• ikfast.h