GlobalIKSemiBreadth Class Reference

Expands all nets until a resolution has been reached, then search only for a single solution. More...

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

Inheritance diagram for GlobalIKSemiBreadth:

Public Member Functions
	GlobalIKSemiBreadth (Real _semiBreadthRecursion, int _solutionSelect=Models::KBM::COVERED)
GlobalIKBase::SolutionSet	runDijkstra (KBM::Inverse::GraphNode initial)
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
int	misses
Public Attributes inherited from GlobalIKBase
SolutionSet	solutions

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...

Protected Attributes
Real	semiBreadthRecursion
int	solutionSelect
Real	targetVolume
Protected Attributes inherited from GlobalIKBase
Real	resolution
Vector	targetLower
Vector	targetUpper

Additional Inherited Members
Public Types inherited from GlobalIKBase
enum	Side { LOWER, UPPER, END }
using	SolutionSet = std::vector< Solution >

Detailed Description

Expands all nets until a resolution has been reached, then search only for a single solution.

This is the most promising approach for large kinematics.

Definition at line 351 of file kbm.h.

Constructor & Destructor Documentation

GlobalIKSemiBreadth()

GlobalIKSemiBreadth	(	Real	_semiBreadthRecursion,
		int	_solutionSelect = Models::KBM::COVERED
	)

Definition at line 708 of file inverse.cpp.

Member Function Documentation

recurse()

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

overrideprotectedvirtual

Implements GlobalIKBase.

Definition at line 526 of file inverse.cpp.

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runDijkstra()

GlobalIKBase::SolutionSet runDijkstra

(

KBM::Inverse::GraphNode

initial

)

Definition at line 658 of file inverse.cpp.

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Member Data Documentation

misses

int misses

Definition at line 355 of file kbm.h.

semiBreadthRecursion

Real semiBreadthRecursion

protected

Definition at line 359 of file kbm.h.

solutionSelect

int solutionSelect

protected

Definition at line 360 of file kbm.h.

targetVolume

Real targetVolume

protected

Definition at line 358 of file kbm.h.

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

• MemoryX/libraries/helpers/KinematicBezierMaps/kbm.h
• MemoryX/libraries/helpers/KinematicBezierMaps/inverse.cpp