IKSolver::Position Struct Reference
Abstract base class for position information. More...
#include <IKSolver.h>
Inheritance diagram for IKSolver::Position:
Detailed Description
Abstract base class for position information.
Subclasses may allow for some freedom in solutions -- not every solution has to be to a single point!
Definition at line 29 of file IKSolver.h.
Public Member Functions | |
| virtual | ~Position () |
| virtual void | computeErrorGradient (const Point &p, const Rotation &r, fmat::Column< 3 > &de) const =0 |
| return vector pointing in direction of decreasing error at point p and rotation r | |
Constructor & Destructor Documentation
| virtual IKSolver::Position::~Position | ( | ) | [virtual] |
Definition at line 30 of file IKSolver.h.
Member Function Documentation
| virtual void IKSolver::Position::computeErrorGradient | ( | const Point & | p, | |
| const Rotation & | r, | |||
| fmat::Column< 3 > & | de | |||
| ) | const [pure virtual] |
return vector pointing in direction of decreasing error at point p and rotation r
Implemented in IKSolver::Point, and IKSolver::Plane.
Referenced by IKThreeLink::solve(), IKThreeLink::step(), IKGradientSolver::step(), and IKCalliope::step().
The documentation for this struct was generated from the following file:
