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)

virtual void	GetSolution (T solution, const T freevalues) const
	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
	Gets the indices of the configuration space that have to be preset before a full solution can be returned. More...

virtual int	GetDOF () const
	the dof of the solution More...

virtual void	Validate () const

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

	IkSolution (const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)

virtual void	GetSolution (T solution, const T freevalues) const
	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
	Gets the indices of the configuration space that have to be preset before a full solution can be returned. More...

virtual int	GetDOF () const
	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 ()

virtual	~IkSolutionBase ()

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.

Definition at line 171 of file ikfast.h.

Constructor & Destructor Documentation

◆ IkSolution() [1/2]

template<typename T >

ikfast::IkSolution< T >::IkSolution	(	const std::vector< IkSingleDOFSolutionBase< T > > &	vinfos,
		const std::vector< int > &	vfree
	)

inline

Definition at line 174 of file ikfast.h.

◆ IkSolution() [2/2]

template<typename T >

ikfast::IkSolution< T >::IkSolution	(	const std::vector< IkSingleDOFSolutionBase< T > > &	vinfos,
		const std::vector< int > &	vfree
	)

inline

Definition at line 171 of file ikfast.h.

Member Function Documentation

◆ GetDOF() [1/2]

template<typename T >

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

inlinevirtual

the dof of the solution

Implements ikfast::IkSolutionBase< T >.

Definition at line 211 of file ikfast.h.

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◆ GetDOF() [2/2]

template<typename T >

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

inlinevirtual

the dof of the solution

Implements ikfast::IkSolutionBase< T >.

Definition at line 208 of file ikfast.h.

◆ GetFree() [1/2]

template<typename T >

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

inlinevirtual

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 >.

Definition at line 207 of file ikfast.h.

◆ GetFree() [2/2]

template<typename T >

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

inlinevirtual

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 >.

Definition at line 204 of file ikfast.h.

◆ GetSolution() [1/4]

template<typename T >

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

inlinevirtual

std::vector version of GetSolution

Reimplemented from ikfast::IkSolutionBase< T >.

Definition at line 201 of file ikfast.h.

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◆ GetSolution() [2/4]

template<typename T >

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

inlinevirtual

std::vector version of GetSolution

Reimplemented from ikfast::IkSolutionBase< T >.

Definition at line 198 of file ikfast.h.

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◆ GetSolution() [3/4]

template<typename T >

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

inlinevirtual

gets a concrete solution

Parameters

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

Implements ikfast::IkSolutionBase< T >.

Definition at line 180 of file ikfast.h.

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◆ GetSolution() [4/4]

template<typename T >

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

inlinevirtual

gets a concrete solution

Parameters

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

Implements ikfast::IkSolutionBase< T >.

Definition at line 177 of file ikfast.h.

◆ GetSolutionIndices() [1/2]

template<typename T >

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

inlinevirtual

Definition at line 238 of file ikfast.h.

◆ GetSolutionIndices() [2/2]

template<typename T >

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

inlinevirtual

Definition at line 235 of file ikfast.h.

◆ Validate() [1/2]

template<typename T >

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

inlinevirtual

Definition at line 216 of file ikfast.h.

◆ Validate() [2/2]

template<typename T >

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

inlinevirtual

Definition at line 213 of file ikfast.h.

Member Data Documentation

◆ _vbasesol

template<typename T >

std::vector< IkSingleDOFSolutionBase< T > > ikfast::IkSolution< T >::_vbasesol

solution and their offsets if joints are mimiced

Definition at line 269 of file ikfast.h.

◆ _vfree

template<typename T >

std::vector< int > ikfast::IkSolution< T >::_vfree

Definition at line 270 of file ikfast.h.

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

moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast.h

Public Member Functions

Public Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ IkSolution() [1/2]

◆ IkSolution() [2/2]

Member Function Documentation

◆ GetDOF() [1/2]

◆ GetDOF() [2/2]

◆ GetFree() [1/2]

◆ GetFree() [2/2]

◆ GetSolution() [1/4]

◆ GetSolution() [2/4]

◆ GetSolution() [3/4]

◆ GetSolution() [4/4]

◆ GetSolutionIndices() [1/2]

◆ GetSolutionIndices() [2/2]

◆ Validate() [1/2]

◆ Validate() [2/2]

Member Data Documentation

◆ _vbasesol

◆ _vfree

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