ikfast::IkSingleDOFSolutionBase< T > Class Template Reference

holds the solution for a single dof More...

#include <ikfast.h>

Public Member Functions
	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	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...
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...

Detailed Description

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

holds the solution for a single dof

Constructor & Destructor Documentation

IkSingleDOFSolutionBase()

template<typename T >

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

inline

References ikfast::IkSingleDOFSolutionBase< T >::indices.

Member Data Documentation

fmul

template<typename T >

T ikfast::IkSingleDOFSolutionBase< T >::fmul

foffset

template<typename T >

T ikfast::IkSingleDOFSolutionBase< T >::foffset

joint value is fmul*sol[freeind]+foffset

Referenced by ikfast::IkSolution< T >::Validate().

freeind

template<typename T >

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

if >= 0, mimics another joint

Referenced by ikfast::IkSolution< T >::GetSolution().

jointtype

template<typename T >

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

joint type, 0x01 is revolute, 0x11 is slider

maxsolutions

template<typename T >

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

max possible indices, 0 if controlled by free index or a free joint itself

Referenced by ikfast::IkSolution< T >::GetSolutionIndices(), and ikfast::IkSolution< T >::Validate().

indices

template<typename T >

unsigned char ikfast::IkSingleDOFSolutionBase< T >::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

Referenced by ikfast::IkSolution< T >::GetSolutionIndices(), ikfast::IkSingleDOFSolutionBase< T >::IkSingleDOFSolutionBase(), and ikfast::IkSolution< T >::Validate().

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/robot/kinematics/ikfast/ikfast.h