IKSolver::Point Struct Reference

Points allow 0 freedoms. More...

#include <IKSolver.h>

Inheritance diagram for IKSolver::Point:

[legend]

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Detailed Description

Points allow 0 freedoms.

Definition at line 40 of file IKSolver.h.

List of all members.

Public Member Functions
	Point ()
	Point (float xi, float yi, float zi)
	Point (const Point &p)
	Point (const fmat::Column< 3 > &p)
	Point (const fmat::SubVector< 3, const fmat::fmatReal > &p)
Point &	operator= (const Point &p)
virtual void	computeErrorGradient (const Point &p, const Rotation &, fmat::Column< 3 > &de) const
	return vector pointing in direction of decreasing error at point p and rotation r
Public Attributes
fmat::fmatReal &	x
fmat::fmatReal &	y
fmat::fmatReal &	z

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Constructor & Destructor Documentation

IKSolver::Point::Point

(

)

Definition at line 41 of file IKSolver.h.

IKSolver::Point::Point	(	float	xi,
		float	yi,
		float	zi
	)

Definition at line 42 of file IKSolver.h.

IKSolver::Point::Point

(

const Point &

p

)

Definition at line 43 of file IKSolver.h.

IKSolver::Point::Point

(

const fmat::Column< 3 > &

p

)

Definition at line 44 of file IKSolver.h.

IKSolver::Point::Point

(

const fmat::SubVector< 3, const fmat::fmatReal > &

p

)

Definition at line 45 of file IKSolver.h.

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Member Function Documentation

virtual void IKSolver::Point::computeErrorGradient	(	const Point &	p,
		const Rotation &	r,
		fmat::Column< 3 > &	de
	)			const [virtual]

return vector pointing in direction of decreasing error at point p and rotation r

Implements IKSolver::Position.

Definition at line 48 of file IKSolver.h.

Point& IKSolver::Point::operator=

(

const Point &

p

)

Definition at line 46 of file IKSolver.h.

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Member Data Documentation

fmat::fmatReal& IKSolver::Point::x

Definition at line 51 of file IKSolver.h.

Referenced by IKSolver::Plane::computeErrorGradient(), computeErrorGradient(), and PlanarThreeLinkArm::solve().

fmat::fmatReal& IKSolver::Point::y

Definition at line 52 of file IKSolver.h.

Referenced by IKSolver::Plane::computeErrorGradient(), computeErrorGradient(), and PlanarThreeLinkArm::solve().

fmat::fmatReal& IKSolver::Point::z

Definition at line 53 of file IKSolver.h.

Referenced by IKSolver::Plane::computeErrorGradient(), and computeErrorGradient().

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

• IKSolver.h