KrisLibrary
1.0.0
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Hook for an analytic inverse kinematics solver. The Solve method must be defined by the subclass. More...
#include <AnalyticIK.h>
Public Member Functions | |
virtual bool | Solve (int base, int ee, const RigidTransform &T, AnalyticIKSolution &solution) const |
Hook for an analytic inverse kinematics solver. The Solve method must be defined by the subclass.
For all dof's from the "base" link to the "end effector" link (ee), returns one or more inverse kinematics solutions. T is the desired end effector transform, relative to base. Usually there are 6 dof's from base to ee (potentially less?). Returns true if the IK for the link is known (if the IK is known, but no IK solutions exist for T, return true with an empty solution).