Public Member Functions | List of all members
ikfast::IkSolutionBase< T > Class Template Referenceabstract

The discrete solutions are returned in this structure. More...

#include <ikfast.h>

Inheritance diagram for ikfast::IkSolutionBase< T >:
Inheritance graph
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Public Member Functions

virtual const int GetDOF () const =0
 the dof of the solution More...
 
virtual const int GetDOF () const =0
 the dof of the solution More...
 
virtual const std::vector< int > & GetFree () const =0
 Gets the indices of the configuration space that have to be preset before a full solution can be returned. More...
 
virtual const std::vector< int > & GetFree () const =0
 Gets the indices of the configuration space that have to be preset before a full solution can be returned. More...
 
virtual void GetSolution (T *solution, const T *freevalues) const =0
 gets a concrete solution More...
 
virtual void GetSolution (T *solution, const T *freevalues) const =0
 gets a concrete solution More...
 
virtual void GetSolution (std::vector< T > &solution, const std::vector< T > &freevalues) const
 std::vector version of GetSolution More...
 
virtual void GetSolution (std::vector< T > &solution, const std::vector< T > &freevalues) const
 std::vector version of GetSolution More...
 
virtual ~IkSolutionBase ()
 
virtual ~IkSolutionBase ()
 

Detailed Description

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

The discrete solutions are returned in this structure.

Sometimes the joint axes of the robot can align allowing an infinite number of solutions. Stores all these solutions in the form of free variables that the user has to set when querying the solution. Its prototype is:

Definition at line 65 of file m20ia10l_kinematics/include/ikfast.h.

Constructor & Destructor Documentation

template<typename T>
virtual ikfast::IkSolutionBase< T >::~IkSolutionBase ( )
inlinevirtual

Definition at line 68 of file m20ia10l_kinematics/include/ikfast.h.

template<typename T>
virtual ikfast::IkSolutionBase< T >::~IkSolutionBase ( )
inlinevirtual

Definition at line 68 of file m20ia_kinematics/include/ikfast.h.

Member Function Documentation

template<typename T>
virtual const int ikfast::IkSolutionBase< T >::GetDOF ( ) const
pure virtual

the dof of the solution

Implemented in ikfast::IkSolution< T >, and ikfast::IkSolution< T >.

template<typename T>
virtual const int ikfast::IkSolutionBase< T >::GetDOF ( ) const
pure virtual

the dof of the solution

Implemented in ikfast::IkSolution< T >, and ikfast::IkSolution< T >.

template<typename T>
virtual const std::vector<int>& ikfast::IkSolutionBase< T >::GetFree ( ) const
pure 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

Implemented in ikfast::IkSolution< T >, and ikfast::IkSolution< T >.

template<typename T>
virtual const std::vector<int>& ikfast::IkSolutionBase< T >::GetFree ( ) const
pure 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

Implemented in ikfast::IkSolution< T >, and ikfast::IkSolution< T >.

template<typename T>
virtual void ikfast::IkSolutionBase< T >::GetSolution ( T *  solution,
const T *  freevalues 
) const
pure virtual

gets a concrete solution

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

Implemented in ikfast::IkSolution< T >, and ikfast::IkSolution< T >.

template<typename T>
virtual void ikfast::IkSolutionBase< T >::GetSolution ( T *  solution,
const T *  freevalues 
) const
pure virtual

gets a concrete solution

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

Implemented in ikfast::IkSolution< T >, and ikfast::IkSolution< T >.

template<typename T>
virtual void ikfast::IkSolutionBase< T >::GetSolution ( std::vector< T > &  solution,
const std::vector< T > &  freevalues 
) const
inlinevirtual

std::vector version of GetSolution

Reimplemented in ikfast::IkSolution< T >, and ikfast::IkSolution< T >.

Definition at line 77 of file m20ia_kinematics/include/ikfast.h.

template<typename T>
virtual void ikfast::IkSolutionBase< T >::GetSolution ( std::vector< T > &  solution,
const std::vector< T > &  freevalues 
) const
inlinevirtual

std::vector version of GetSolution

Reimplemented in ikfast::IkSolution< T >, and ikfast::IkSolution< T >.

Definition at line 77 of file m20ia10l_kinematics/include/ikfast.h.


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


fanuc_m20ia_moveit_plugins
Author(s): G.A. vd. Hoorn (TU Delft Robotics Institute)
autogenerated on Tue Jan 28 2020 03:27:02