Choreonoid  1.5
Public Types | Public Member Functions | List of all members
cnoid::InverseKinematics Class Referenceabstract

#include <InverseKinematics.h>

Inheritance diagram for cnoid::InverseKinematics:
cnoid::CompositeIK cnoid::JointPath cnoid::PinDragIK

Public Types

enum  AxisSet { NO_AXES = 0, TRANSLATION_3D = 0x1, ROTATION_3D = 0x2, TRANSFORM_6D = 0x3 }
 

Public Member Functions

virtual ~InverseKinematics ()
 
virtual AxisSet axisType () const
 
virtual bool calcInverseKinematics (const Vector3 &end_p, const Matrix3 &end_R)=0
 

Member Enumeration Documentation

◆ AxisSet

Enumerator
NO_AXES 
TRANSLATION_3D 
ROTATION_3D 
TRANSFORM_6D 

Constructor & Destructor Documentation

◆ ~InverseKinematics()

virtual cnoid::InverseKinematics::~InverseKinematics ( )
inlinevirtual

Member Function Documentation

◆ axisType()

virtual AxisSet cnoid::InverseKinematics::axisType ( ) const
inlinevirtual

◆ calcInverseKinematics()

virtual bool cnoid::InverseKinematics::calcInverseKinematics ( const Vector3 end_p,
const Matrix3 end_R 
)
pure virtual
Todo:
This should be "bool calcInverseKinematics(const Position& T) = 0

Implemented in cnoid::JointPath, cnoid::PinDragIK, and cnoid::CompositeIK.


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