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)
virtual void	GetSolution (T *solution, const T *freevalues) const
	gets a concrete solution
virtual void	GetSolution (std::vector< T > &solution, const std::vector< T > &freevalues) const
	std::vector version of GetSolution
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.
virtual int	GetDOF () const
	the dof of the solution
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
virtual void	GetSolution (std::vector< T > &solution, const std::vector< T > &freevalues) const
	std::vector version of GetSolution
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.
virtual int	GetDOF () const
	the dof of the solution
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 mimicked
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 239 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 mimicked

Definition at line 270 of file ikfast.h.

_vfree

template<typename T >

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

Definition at line 271 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