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 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 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 (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 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
virtual void GetSolutionIndices (std::vector< unsigned int > &v) const
 IkSolution (const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)
 IkSolution (const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)
virtual void Validate () const
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 148 of file m20ia10l_kinematics/include/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 151 of file m20ia10l_kinematics/include/ikfast.h.

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

Definition at line 151 of file m20ia_kinematics/include/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 180 of file m20ia10l_kinematics/include/ikfast.h.

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 180 of file m20ia_kinematics/include/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 177 of file m20ia_kinematics/include/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 177 of file m20ia10l_kinematics/include/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 156 of file m20ia10l_kinematics/include/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 156 of file m20ia_kinematics/include/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 172 of file m20ia_kinematics/include/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 172 of file m20ia10l_kinematics/include/ikfast.h.

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

Definition at line 200 of file m20ia10l_kinematics/include/ikfast.h.

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

Definition at line 200 of file m20ia_kinematics/include/ikfast.h.

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

Definition at line 184 of file m20ia10l_kinematics/include/ikfast.h.

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

Definition at line 184 of file m20ia_kinematics/include/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 223 of file m20ia10l_kinematics/include/ikfast.h.

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

Definition at line 224 of file m20ia10l_kinematics/include/ikfast.h.


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


fanuc_m20ia_moveit_plugins
Author(s): G.A. vd. Hoorn (TU Delft Robotics Institute)
autogenerated on Sat Jun 8 2019 20:43:53