ct::rbd::Irb4600InverseKinematics< SCALAR > Class Template Reference

#include <Irb4600InverseKinematics.h>

Inheritance diagram for ct::rbd::Irb4600InverseKinematics< SCALAR >:

Public Types
using	BASE = InverseKinematicsBase< 6, SCALAR >
using	JointPosition_t = typename BASE::JointPosition_t
using	JointPositionsVector_t = typename BASE::JointPositionsVector_t
using	RigidBodyPoseTpl = typename BASE::RigidBodyPoseTpl

Public Member Functions
	Irb4600InverseKinematics ()=default
	~Irb4600InverseKinematics ()=default
bool	computeInverseKinematics (JointPositionsVector_t &res, const RigidBodyPoseTpl &eeBasePose, const std::vector< size_t > &freeJoints=std::vector< size_t >()) override
bool	computeInverseKinematics (JointPositionsVector_t &res, const RigidBodyPoseTpl &eeWorldPose, const RigidBodyPoseTpl &baseWorldPose, const std::vector< size_t > &freeJoints=std::vector< size_t >()) override

Member Typedef Documentation

BASE

template<typename SCALAR = double>

using ct::rbd::Irb4600InverseKinematics< SCALAR >::BASE = InverseKinematicsBase<6, SCALAR>

JointPosition_t

template<typename SCALAR = double>

using ct::rbd::Irb4600InverseKinematics< SCALAR >::JointPosition_t = typename BASE::JointPosition_t

JointPositionsVector_t

template<typename SCALAR = double>

using ct::rbd::Irb4600InverseKinematics< SCALAR >::JointPositionsVector_t = typename BASE::JointPositionsVector_t

RigidBodyPoseTpl

template<typename SCALAR = double>

using ct::rbd::Irb4600InverseKinematics< SCALAR >::RigidBodyPoseTpl = typename BASE::RigidBodyPoseTpl

Constructor & Destructor Documentation

Irb4600InverseKinematics()

template<typename SCALAR = double>

ct::rbd::Irb4600InverseKinematics< SCALAR >::Irb4600InverseKinematics ( )

default

~Irb4600InverseKinematics()

template<typename SCALAR = double>

ct::rbd::Irb4600InverseKinematics< SCALAR >::~Irb4600InverseKinematics ( )

default

Member Function Documentation

computeInverseKinematics() [1/2]

template<typename SCALAR = double>

bool ct::rbd::Irb4600InverseKinematics< SCALAR >::computeInverseKinematics ( JointPositionsVector_t &  res, const RigidBodyPoseTpl &  eeBasePose, const std::vector< size_t > &  freeJoints = std::vector<size_t>()  )

inlineoverride

References ComputeIk(), GetNumFreeParameters(), ikfast::IkSolutionList< class >::GetNumSolutions(), ct::rbd::JointState< NJOINTS, SCALAR >::getPositions(), ikfast::IkSolutionList< class >::GetSolution(), ikfast::IkSolutionBase< class >::GetSolution(), and i.

Referenced by TEST().

computeInverseKinematics() [2/2]

template<typename SCALAR = double>

bool ct::rbd::Irb4600InverseKinematics< SCALAR >::computeInverseKinematics ( JointPositionsVector_t &  res, const RigidBodyPoseTpl &  eeWorldPose, const RigidBodyPoseTpl &  baseWorldPose, const std::vector< size_t > &  freeJoints = std::vector<size_t>()  )

inlineoverride

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_models/include/ct/models/Irb4600/Irb4600InverseKinematics.h