ofkt_state_solver.h File Reference

A implementation of the Optimized Forward Kinematic Tree as a state solver. More...

#include <tesseract/common/macros.h>
#include <Eigen/Geometry>
#include <memory>
#include <string>
#include <shared_mutex>
#include <tesseract/state_solver/mutable_state_solver.h>
#include <tesseract/state_solver/ofkt/ofkt_node.h>
#include <tesseract/scene_graph/scene_state.h>
#include <tesseract/common/kinematic_limits.h>

Classes
class	tesseract::scene_graph::OFKTStateSolver
	An implementation of the Optimized Forward Kinematic Tree as a stat solver. More...

Detailed Description

A implementation of the Optimized Forward Kinematic Tree as a state solver.

This is based on the paper "A Forward Kinematics Data Structure for Efficient Evolutionary Inverse Kinematics".

Starke, S., Hendrich, N., & Zhang, J. (2018). A Forward Kinematics Data Structure for Efficient Evolutionary Inverse Kinematics. In Computational Kinematics (pp. 560-568). Springer, Cham.

Author

Levi Armstrong

Date

August 24, 2020

Copyright

Copyright (c) 2020, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.