Interface for IK solvers used with the Robot class. More...

Inheritance diagram for aikido::robot::InverseKinematics:

Public Member Functions
virtual std::vector< Eigen::VectorXd >	getSolutions (const Eigen::Isometry3d &targetPose, const size_t maxSolutions) const =0
	Returns a set of IK solutions for the given pose. More...

Detailed Description

Interface for IK solvers used with the Robot class.

Member Function Documentation

virtual std::vector<Eigen::VectorXd> aikido::robot::InverseKinematics::getSolutions	(	const Eigen::Isometry3d &	targetPose,
		const size_t	maxSolutions
	)		const

pure virtual

Returns a set of IK solutions for the given pose.

Note that at most maxSolutions solutions are returned, but fewer may be (and possibly none if solving fails).

Parameters

targetPose	End-effector pose to solve inverse kinematics for.
maxSolutions	Upper limit on how many solutions to find and return.