ikfast::IkSolutionListBase< T > Class Template Reference

manages all the solutions More...

#include <ikfast.h>

Inheritance diagram for ikfast::IkSolutionListBase< T >:

Public Member Functions
virtual	~IkSolutionListBase ()
virtual size_t	AddSolution (const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)=0
	add one solution and return its index for later retrieval More...
virtual const IkSolutionBase< T > &	GetSolution (size_t index) const =0
	returns the solution pointer More...
virtual size_t	GetNumSolutions () const =0
	returns the number of solutions stored More...
virtual void	Clear ()=0
	clears all current solutions, note that any memory addresses returned from GetSolution will be invalidated. More...

Detailed Description

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

manages all the solutions

Constructor & Destructor Documentation

~IkSolutionListBase()

template<typename T>

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

inlinevirtual

Member Function Documentation

AddSolution()

template<typename T>

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

pure virtual

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.

Implemented in ikfast::IkSolutionList< T >.

GetSolution()

template<typename T>

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

pure virtual

returns the solution pointer

Implemented in ikfast::IkSolutionList< T >.

GetNumSolutions()

template<typename T>

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

pure virtual

returns the number of solutions stored

Implemented in ikfast::IkSolutionList< T >.

Clear()

template<typename T>

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

pure virtual

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

Implemented in ikfast::IkSolutionList< 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