GlobalIKBase Class Reference

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

Inheritance diagram for GlobalIKBase:

Classes
struct	Solution

Public Types
enum	Side { LOWER , UPPER , END }
using	SolutionSet = std::vector<Solution>

Public Member Functions
	GlobalIKBase ()
void	solve (Models::KBM_ptr kbm, const Vector lower, const Vector upper, Real resolution=2.0f *M_PI/180.0f)

Public Attributes
SolutionSet	solutions

Protected Member Functions
virtual unsigned int	recurse (unsigned int level, Models::KBM_ptr kbm)=0
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.
Models::KBM_ptr	subdivideKBM (GlobalIKBase::Side side, unsigned int recursion, Models::KBM_ptr kbm)
	Subdivides the kbm and creates new KBM. Calls GlobalIKBase::subdivideAngles().

Protected Attributes
Real	resolution
Vector	targetLower
Vector	targetUpper

Detailed Description

Definition at line 303 of file kbm.h.

Member Typedef Documentation

SolutionSet

using SolutionSet = std::vector<Solution>

Definition at line 338 of file kbm.h.

Member Enumeration Documentation

Side

enum Side

Enumerator
LOWER
UPPER
END

Definition at line 340 of file kbm.h.

Constructor & Destructor Documentation

GlobalIKBase()

GlobalIKBase ( )

inline

Definition at line 347 of file kbm.h.

Member Function Documentation

recurse()

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

protectedpure virtual

Implemented in GlobalIKExtensive, and GlobalIKSemiBreadth.

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solve()

void solve	(	Models::KBM_ptr	kbm,
		const Vector	lower,
		const Vector	upper,
		Real	resolution = 2.0f * M_PI / 180.0f )

Definition at line 509 of file inverse.cpp.

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subdivideAngles()

void subdivideAngles ( GlobalIKBase::Side side, unsigned int recursion, Models::KBM_ptr kbm, Vector & center, Vector & spreadAngles )

protected

Subdivides the joint angles only. Can be used to select in which direction to subdivise first.

Definition at line 543 of file inverse.cpp.

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subdivideKBM()

Models::KBM_ptr subdivideKBM ( GlobalIKBase::Side side, unsigned int recursion, Models::KBM_ptr kbm )

protected

Subdivides the kbm and creates new KBM. Calls GlobalIKBase::subdivideAngles().

Definition at line 521 of file inverse.cpp.

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Member Data Documentation

resolution

Real resolution

protected

Definition at line 371 of file kbm.h.

solutions

SolutionSet solutions

Definition at line 356 of file kbm.h.

targetLower

Vector targetLower

protected

Definition at line 370 of file kbm.h.

targetUpper

Vector targetUpper

protected

Definition at line 370 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