ikfast::IkSolutionBase< T > Class Template Reference

The discrete solutions are returned in this structure. More...

#include <ikfast.h>

Inheritance diagram for ikfast::IkSolutionBase< T >:

Public Member Functions
virtual	~IkSolutionBase ()
virtual void	GetSolution (T *solution, const T *freevalues) const =0
	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 =0
	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 =0
	the dof of the solution More...

Detailed Description

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

The discrete solutions are returned in this structure.

Sometimes the joint axes of the robot can align allowing an infinite number of solutions. Stores all these solutions in the form of free variables that the user has to set when querying the solution. Its prototype is:

Constructor & Destructor Documentation

~IkSolutionBase()

template<typename T >

virtual ikfast::IkSolutionBase< T >::~IkSolutionBase ( )

inlinevirtual

Member Function Documentation

GetSolution() [1/2]

template<typename T >

virtual void ikfast::IkSolutionBase< T >::GetSolution ( T *  solution, const T *  freevalues  ) const

pure virtual

gets a concrete solution

Parameters

[out]	solution	the result
[in]	freevalues	values for the free parameters GetFree

Implemented in ikfast::IkSolution< T >.

GetSolution() [2/2]

template<typename T >

virtual void ikfast::IkSolutionBase< T >::GetSolution ( std::vector< T > &  solution, const std::vector< T > &  freevalues  ) const

inlinevirtual

std::vector version of GetSolution

Reimplemented in ikfast::IkSolution< T >.

GetFree()

template<typename T >

virtual const std::vector<int>& ikfast::IkSolutionBase< T >::GetFree ( ) const

pure virtual

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

Implemented in ikfast::IkSolution< T >.

GetDOF()

template<typename T >

virtual const int ikfast::IkSolutionBase< T >::GetDOF ( ) const

pure virtual

the dof of the solution

Implemented in ikfast::IkSolution< T >.

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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