ikfast::IkSingleDOFSolutionBase< T > Class Template Reference

holds the solution for a single dof More...

#include <ikfast.h>

Public Member Functions
	IkSingleDOFSolutionBase ()
	IkSingleDOFSolutionBase ()

Public Attributes
T	fmul
T	foffset
	joint value is fmul*sol[freeind]+foffset
signed char	freeind
	if >= 0, mimics another joint
unsigned char	jointtype
	joint type, 0x01 is revolute, 0x11 is slider
unsigned char	maxsolutions
	max possible indices, 0 if controlled by free index or a free joint itself
unsigned char	indices [5]

Detailed Description

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

holds the solution for a single dof

Definition at line 51 of file ikfast.h.

Constructor & Destructor Documentation

IkSingleDOFSolutionBase() [1/2]

template<typename T >

ikfast::IkSingleDOFSolutionBase< T >::IkSingleDOFSolutionBase ( )

inline

Definition at line 54 of file ikfast.h.

IkSingleDOFSolutionBase() [2/2]

template<typename T >

ikfast::IkSingleDOFSolutionBase< T >::IkSingleDOFSolutionBase ( )

inline

Definition at line 51 of file ikfast.h.

Member Data Documentation

fmul

template<typename T >

T ikfast::IkSingleDOFSolutionBase< T >::fmul

Definition at line 58 of file ikfast.h.

foffset

template<typename T >

T ikfast::IkSingleDOFSolutionBase< T >::foffset

joint value is fmul*sol[freeind]+foffset

Definition at line 58 of file ikfast.h.

freeind

template<typename T >

signed char ikfast::IkSingleDOFSolutionBase< T >::freeind

if >= 0, mimics another joint

Definition at line 59 of file ikfast.h.

indices

template<typename T >

unsigned char ikfast::IkSingleDOFSolutionBase< T >::indices

unique index of the solution used to keep track on what part it came from. sometimes a

Definition at line 62 of file ikfast.h.

jointtype

template<typename T >

unsigned char ikfast::IkSingleDOFSolutionBase< T >::jointtype

joint type, 0x01 is revolute, 0x11 is slider

Definition at line 60 of file ikfast.h.

maxsolutions

template<typename T >

unsigned char ikfast::IkSingleDOFSolutionBase< T >::maxsolutions

max possible indices, 0 if controlled by free index or a free joint itself

Definition at line 61 of file ikfast.h.

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

• moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast.h
• moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/include/ikfast.h