- 3.0.2 rigid body dynamics module.
Public Member Functions | Public Attributes | List of all members
ikfast::IkSolution< T > Class Template Reference

Default implementation of IkSolutionBase. More...

#include <ikfast.h>

Inheritance diagram for ikfast::IkSolution< T >:
ikfast::IkSolutionBase< T >

Public Member Functions

 IkSolution (const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)
 
virtual void GetSolution (T *solution, const T *freevalues) const
 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 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. More...
 
virtual const int GetDOF () const
 the dof of the solution More...
 
virtual void Validate () const
 
virtual void GetSolutionIndices (std::vector< unsigned int > &v) const
 
- Public Member Functions inherited from ikfast::IkSolutionBase< T >
virtual ~IkSolutionBase ()
 

Public Attributes

std::vector< IkSingleDOFSolutionBase< T > > _vbasesol
 solution and their offsets if joints are mimiced More...
 
std::vector< int > _vfree
 

Detailed Description

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

Default implementation of IkSolutionBase.

Constructor & Destructor Documentation

◆ IkSolution()

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

Member Function Documentation

◆ GetSolution() [1/2]

template<typename T >
virtual void ikfast::IkSolution< T >::GetSolution ( T *  solution,
const T *  freevalues 
) const
inlinevirtual

gets a concrete solution

Parameters
[out]solutionthe result
[in]freevaluesvalues for the free parameters GetFree

Implements ikfast::IkSolutionBase< T >.

References ikfast::IkSingleDOFSolutionBase< T >::freeind, and i.

◆ GetSolution() [2/2]

template<typename T >
virtual void ikfast::IkSolution< T >::GetSolution ( std::vector< T > &  solution,
const std::vector< T > &  freevalues 
) const
inlinevirtual

std::vector version of GetSolution

Reimplemented from ikfast::IkSolutionBase< T >.

◆ GetFree()

template<typename T >
virtual const std::vector<int>& ikfast::IkSolution< T >::GetFree ( ) const
inlinevirtual

Gets the indices of the configuration space that have to be preset before a full solution can be returned.

0 always points to the first value accepted by the ik function.

Returns
vector of indices indicating the free parameters

Implements ikfast::IkSolutionBase< T >.

◆ GetDOF()

template<typename T >
virtual const int ikfast::IkSolution< T >::GetDOF ( ) const
inlinevirtual

the dof of the solution

Implements ikfast::IkSolutionBase< T >.

◆ Validate()

template<typename T >
virtual void ikfast::IkSolution< T >::Validate ( ) const
inlinevirtual

References ikfast::IkSingleDOFSolutionBase< T >::foffset, i, ikfast::IkSingleDOFSolutionBase< T >::indices, and ikfast::IkSingleDOFSolutionBase< T >::maxsolutions.

◆ GetSolutionIndices()

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

References i, ikfast::IkSingleDOFSolutionBase< T >::indices, and ikfast::IkSingleDOFSolutionBase< T >::maxsolutions.

Member Data Documentation

◆ _vbasesol

template<typename T >
std::vector< IkSingleDOFSolutionBase<T> > ikfast::IkSolution< T >::_vbasesol

solution and their offsets if joints are mimiced

◆ _vfree

template<typename T >
std::vector<int> ikfast::IkSolution< T >::_vfree
The documentation for this class was generated from the following file: