RobWorkProject  24.5.15-
Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | List of all members
QIKSampler Class Referenceabstract

Interface for the sampling a configuration that solves an IK problem. More...

#include <QIKSampler.hpp>

Public Types

typedef rw::core::Ptr< QIKSamplerPtr
 smart pointer type to this class
 
typedef rw::core::Ptr< const QIKSamplerCPtr
 smart pointer type to this const class
 

Public Member Functions

rw::math::Q sample (const rw::math::Transform3D<> &target)
 Sample a configuration that solves an IK problem for target. More...
 
bool empty () const
 True if the sampler is known to contain no more configurations.
 
virtual ~QIKSampler ()
 Destructor.
 

Static Public Member Functions

static QIKSampler::Ptr make (rw::core::Ptr< rw::models::Device > device, const rw::kinematics::State &state, rw::core::Ptr< rw::invkin::IterativeIK > solver=NULL, rw::core::Ptr< QSampler > seed=NULL, int maxAttempts=-1)
 An IK sampler based on an iterative IK solver. More...
 
static QIKSampler::Ptr makeConstrained (QIKSampler::Ptr sampler, rw::core::Ptr< QConstraint > constraint, int maxAttempts=-1)
 An IK sampler filtered by a constraint. More...
 

Protected Member Functions

 QIKSampler ()
 Constructor.
 
virtual rw::math::Q doSample (const rw::math::Transform3D<> &target)=0
 Subclass implementation of the sample() method.
 
virtual bool doEmpty () const
 Subclass implementation of the empty() method. More...
 

Detailed Description

Interface for the sampling a configuration that solves an IK problem.


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