The discrete solutions are returned in this structure. [詳細]
#include <ikfast.h>
Public メソッド | |
virtual | ~IkSolutionBase () |
virtual void | GetSolution (T *solution, const T *freevalues) const =0 |
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 =0 |
Gets the indices of the configuration space that have to be preset before a full solution can be returned. | |
virtual const int | GetDOF () const =0 |
the dof of the solution | |
The discrete solutions are returned in this structure.
Sometimes the joint axes of the robot can align allowing an infinite number of solutions. Stores all these solutions in the form of free variables that the user has to set when querying the solution. Its prototype is:
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inlinevirtual |
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pure virtual |
the dof of the solution
ikfast::IkSolution< T >で実装されています。
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pure virtual |
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.
ikfast::IkSolution< T >で実装されています。
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pure virtual |
gets a concrete solution
[out] | solution | the result |
[in] | freevalues | values for the free parameters GetFree |
ikfast::IkSolution< T >で実装されています。
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inlinevirtual |