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.
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	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.

Constructor & Destructor Documentation

GlobalIKSemiBreadth()

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

Member Function Documentation

recurse()

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

overrideprotectedvirtual

Implements GlobalIKBase.

runDijkstra()

GlobalIKBase::SolutionSet runDijkstra

(

KBM::Inverse::GraphNode

initial

)

Member Data Documentation

misses

int misses

semiBreadthRecursion

Real semiBreadthRecursion

protected

solutionSelect

int solutionSelect

protected

targetVolume

Real targetVolume

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