ikfast::IkSolutionList< T > Class Template Reference

Default implementation of IkSolutionListBase. More...

#include <ikfast.h>

Inheritance diagram for ikfast::IkSolutionList< T >:

Public Member Functions
virtual size_t	AddSolution (const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)
	add one solution and return its index for later retrieval More...
virtual const IkSolutionBase< T > &	GetSolution (size_t index) const
	returns the solution pointer More...
virtual size_t	GetNumSolutions () const
	returns the number of solutions stored More...
virtual void	Clear ()
	clears all current solutions, note that any memory addresses returned from GetSolution will be invalidated. More...
Public Member Functions inherited from ikfast::IkSolutionListBase< T >
virtual	~IkSolutionListBase ()

Protected Attributes
std::list< IkSolution< T > >	_listsolutions

Detailed Description

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

Default implementation of IkSolutionListBase.

Member Function Documentation

AddSolution()

template<typename T >

virtual size_t ikfast::IkSolutionList< T >::AddSolution ( const std::vector< IkSingleDOFSolutionBase< T > > &  vinfos, const std::vector< int > &  vfree  )

inlinevirtual

add one solution and return its index for later retrieval

Parameters

vinfos	Solution data for each degree of freedom of the manipulator
vfree	If the solution represents an infinite space, holds free parameters of the solution that users can freely set. The indices are of the configuration that the IK solver accepts rather than the entire robot, ie 0 points to the first value accepted.

Implements ikfast::IkSolutionListBase< T >.

GetSolution()

template<typename T >

virtual const IkSolutionBase<T>& ikfast::IkSolutionList< T >::GetSolution ( size_t  index ) const

inlinevirtual

returns the solution pointer

Implements ikfast::IkSolutionListBase< T >.

GetNumSolutions()

template<typename T >

virtual size_t ikfast::IkSolutionList< T >::GetNumSolutions ( ) const

inlinevirtual

returns the number of solutions stored

Implements ikfast::IkSolutionListBase< T >.

Clear()

template<typename T >

virtual void ikfast::IkSolutionList< T >::Clear ( )

inlinevirtual

clears all current solutions, note that any memory addresses returned from GetSolution will be invalidated.

Implements ikfast::IkSolutionListBase< T >.

Member Data Documentation

_listsolutions

template<typename T >

std::list< IkSolution<T> > ikfast::IkSolutionList< T >::_listsolutions

protected

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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