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

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

overrideprotectedvirtual

Definition at line 484 of file inverse.cpp.

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