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 >:
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Public Member Functions

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 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 ~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 70 of file ikfast.h.

Constructor & Destructor Documentation

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

Definition at line 73 of file 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 >.

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 >.

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 >.

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 >.

Definition at line 83 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 Tue Nov 6 2018 04:01:06