ikfast::IkSolution< T > Class Template Reference

Default implementation of IkSolutionBase. More...

#include <ikfast.h>

Inheritance diagram for ikfast::IkSolution< T >:

Collaboration diagram for ikfast::IkSolution< T >:

Public Member Functions
	IkSolution (const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)
void	GetSolution (T *solution, const T *freevalues) const override
	gets a concrete solution More...
void	GetSolution (std::vector< T > &solution, const std::vector< T > &freevalues) const override
	std::vector version of GetSolution More...
const std::vector< int > &	GetFree () const override
	Gets the indices of the configuration space that have to be preset before a full solution can be returned. More...
int	GetDOF () const override
	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 ()=default
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 int	GetDOF () const =0
	the dof of the solution More...

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

GetDOF()

template<typename T >

int ikfast::IkSolution< T >::GetDOF ( ) const

inlineoverridevirtual

the dof of the solution

Implements ikfast::IkSolutionBase< T >.

GetFree()

template<typename T >

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

inlineoverridevirtual

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

Returns

vector of indices indicating the free parameters

Implements ikfast::IkSolutionBase< T >.

GetSolution() [1/2]

template<typename T >

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

inlineoverridevirtual

std::vector version of GetSolution

Reimplemented from ikfast::IkSolutionBase< T >.

GetSolution() [2/2]

template<typename T >

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

inlineoverridevirtual

gets a concrete solution

Parameters

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

Implements ikfast::IkSolutionBase< T >.

GetSolutionIndices()

template<typename T >

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

inlinevirtual

Validate()

template<typename T >

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

inlinevirtual

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

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The documentation for this class was generated from the following file:

• tesseract_kinematics/ikfast/include/tesseract_kinematics/ikfast/external/ikfast.h