holds the solution for a single dof More...

#include <ikfast.h>

Public Member Functions
	IkSingleDOFSolutionBase ()

	IkSingleDOFSolutionBase ()

Public Attributes
T	fmul

T	foffset
	joint value is fmul*sol[freeind]+foffset More...

signed char	freeind
	if >= 0, mimics another joint More...

unsigned char	indices [5]
	unique index of the solution used to keep track on what part it came from. sometimes a solution can be repeated for different indices. store at least another repeated root More...

unsigned char	jointtype
	joint type, 0x01 is revolute, 0x11 is slider More...

unsigned char	maxsolutions
	max possible indices, 0 if controlled by free index or a free joint itself More...

Detailed Description

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

holds the solution for a single dof

Definition at line 47 of file m20ia10l_kinematics/include/ikfast.h.

Constructor & Destructor Documentation

◆ IkSingleDOFSolutionBase() [1/2]

template<typename T >

ikfast::IkSingleDOFSolutionBase< T >::IkSingleDOFSolutionBase ( )

inline

Definition at line 50 of file m20ia10l_kinematics/include/ikfast.h.

◆ IkSingleDOFSolutionBase() [2/2]

template<typename T >

ikfast::IkSingleDOFSolutionBase< T >::IkSingleDOFSolutionBase ( )

inline

Definition at line 50 of file m20ia_kinematics/include/ikfast.h.

Member Data Documentation

◆ fmul

template<typename T >

T ikfast::IkSingleDOFSolutionBase< T >::fmul

Definition at line 53 of file m20ia10l_kinematics/include/ikfast.h.

◆ foffset

template<typename T >

T ikfast::IkSingleDOFSolutionBase< T >::foffset

joint value is fmul*sol[freeind]+foffset

Definition at line 53 of file m20ia10l_kinematics/include/ikfast.h.

◆ freeind

template<typename T >

signed char ikfast::IkSingleDOFSolutionBase< T >::freeind

if >= 0, mimics another joint

Definition at line 54 of file m20ia10l_kinematics/include/ikfast.h.

◆ indices

template<typename T >

unsigned char ikfast::IkSingleDOFSolutionBase< T >::indices

unique index of the solution used to keep track on what part it came from. sometimes a solution can be repeated for different indices. store at least another repeated root

Definition at line 57 of file m20ia10l_kinematics/include/ikfast.h.