GlobalIKExtensive Class Reference

Finds all solutions to the Global IK. More...

#include <MemoryX/libraries/helpers/KinematicBezierMaps/kbm.h>

+ Inheritance diagram for GlobalIKExtensive:

Protected Member Functions

unsigned int recurse (unsigned int level, Models::KBM_ptr kbm) override
 
- Protected Member Functions inherited from GlobalIKBase
void subdivideAngles (Side side, unsigned int recursion, Models::KBM_ptr kbm, Vector &center, Vector &spreadAngles)
 Subdivides the joint angles only. Can be used to select in which direction to subdivise first. More...
 
Models::KBM_ptr subdivideKBM (GlobalIKBase::Side side, unsigned int recursion, Models::KBM_ptr kbm)
 Subdivides the kbm and creates new KBM. Calls GlobalIKBase::subdivideAngles(). More...
 

Additional Inherited Members

- Public Types inherited from GlobalIKBase
enum  Side { LOWER, UPPER, END }
 
using SolutionSet = std::vector< Solution >
 
- Public Member Functions inherited from GlobalIKBase
 GlobalIKBase ()
 
void solve (Models::KBM_ptr kbm, const Vector lower, const Vector upper, Real resolution=2.0f *M_PI/180.0f)
 
- Public Attributes inherited from GlobalIKBase
SolutionSet solutions
 
- Protected Attributes inherited from GlobalIKBase
Real resolution
 
Vector targetLower
 
Vector targetUpper
 

Detailed Description

Finds all solutions to the Global IK.

Note that this may be $ 2^\frac{\alpha_{spread}}{\alpha_{resolution}}$ (i.e., a lot ) solutions.

Definition at line 340 of file kbm.h.

Member Function Documentation

◆ recurse()

unsigned int recurse ( unsigned int  level,
Models::KBM_ptr  kbm 
)
overrideprotectedvirtual

Implements GlobalIKBase.

Definition at line 484 of file inverse.cpp.

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