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

Member Typedef Documentation

SolutionSet

using SolutionSet = std::vector<Solution>

Member Enumeration Documentation

Side

enum Side

Enumerator
LOWER
UPPER
END

Constructor & Destructor Documentation

GlobalIKBase()

GlobalIKBase ( )

inline

Member Function Documentation

recurse()

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

protectedpure virtual

Implemented in GlobalIKExtensive, and GlobalIKSemiBreadth.

solve()

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

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.

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().

Member Data Documentation

resolution

Real resolution

protected

solutions

SolutionSet solutions

targetLower

Vector targetLower

protected

targetUpper

Vector targetUpper

protected

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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