RobWorkProject: ParallelIKSolver::Target Struct Reference

A target definition used in the multi-target solve function. More...

#include <ParallelIKSolver.hpp>

Public Member Functions
	Target ()
	Constructor with all directions enabled initially.

	Target (rw::core::Ptr< const rw::kinematics::Frame > frame, const rw::math::Transform3D< double > &refTtcp)
	Constructor with specification of a target transformation from the base to a given tcp frame. More...

	Target (rw::core::Ptr< const rw::kinematics::Frame > frame, const rw::math::Transform3D< double > &refTtcp, const rw::math::VectorND< 6, bool > &enabled)
	Constructor with specification of a target transformation where some directions are not enabled. More...

std::size_t	dof () const
	Get the number directions enabled. More...

Public Attributes
rw::core::Ptr< const rw::kinematics::Frame >	refFrame
	The reference frame. If zero, this is equivalent to the device base frame.

rw::core::Ptr< const rw::kinematics::Frame >	tcpFrame
	The frame to specify target for.

rw::math::Transform3D	refTtcp
	The target transformation from refFrame to the tcpFrame.

rw::math::VectorND< 6, bool >	enabled
	Directions of baseTtcp to enable. The 6 values specify x, y, z and EAA x, y, z directions.

Detailed Description

A target definition used in the multi-target solve function.

Target	(	rw::core::Ptr< const rw::kinematics::Frame >	frame,
		const rw::math::Transform3D< double > &	refTtcp
	)

inline

Constructor with specification of a target transformation from the base to a given tcp frame.

Parameters

frame	[in] the end frame.
refTtcp	[in] the target base to frame transformation.

Target	(	rw::core::Ptr< const rw::kinematics::Frame >	frame,
		const rw::math::Transform3D< double > &	refTtcp,
		const rw::math::VectorND< 6, bool > &	enabled
	)

inline

Constructor with specification of a target transformation where some directions are not enabled.

Parameters

frame	[in] the end frame.
refTtcp	[in] the target base to frame transformation.
enabled	[in] 6 values specifying if the x, y, z and EAA x, y, z directions should be enabled.

std::size_t dof ( ) const

inline

Get the number directions enabled.

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