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 | |
| 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 | |
| virtual void | Validate () const |
| virtual void | GetSolutionIndices (std::vector< unsigned int > &v) const |
Public Attributes | |
| std::vector< IkSingleDOFSolutionBase< T > > | _vbasesol |
| solution and their offsets if joints are mimiced | |
| std::vector< int > | _vfree |
Detailed Description
template<typename T>
class ikfast::IkSolution< T >
Default implementation of IkSolutionBase.
Member Function Documentation
◆ GetFree()
template<typename T >
|
inlinevirtual |
Gets the indices of the configuration space that have to be preset before a full solution can be returned.
0 always points to the first value accepted by the ik function.
- Returns
- vector of indices indicating the free parameters
Implements ikfast::IkSolutionBase< T >.
◆ GetSolution()
template<typename T >
|
inlinevirtual |
gets a concrete solution
- Parameters
-
[out] solution the result [in] freevalues values for the free parameters GetFree
Implements ikfast::IkSolutionBase< T >.
The documentation for this class was generated from the following file:
- dart/external/ikfast/ikfast.h
