IKSolver.h File Reference

Defines IKSolver interface, which provides an abstract interface to inverse kinematic solvers. More...

#include "Motion/KinematicJoint.h"
#include "Shared/fmat.h"
#include "Shared/FamilyFactory.h"
#include <stdexcept>

Include dependency graph for IKSolver.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	IKSolver
	Provides an abstract interface to inverse kinematic solvers. More...
struct	IKSolver::Position
	Abstract base class for position information. More...
struct	IKSolver::Point
	Points allow 0 freedoms. More...
struct	IKSolver::Line
	Lines allow 1 freedom, slide along line. More...
struct	IKSolver::Plane
	Planes allow 2 freedoms, move in plane. More...
struct	IKSolver::Orientation
	Abstract base class for orientation information. More...
struct	IKSolver::Rotation
	Rotation (here specified as a quaternion) allows 0 freedoms. More...
struct	IKSolver::Parallel
	Parallel allows 1 freedom (roll along z vector). More...
struct	IKSolver::Cone
	Cone allows 1-2 freedoms (roll, trade off pitch vs. yaw). More...

---

Detailed Description

Defines IKSolver interface, which provides an abstract interface to inverse kinematic solvers.

Author:

Ethan Tira-Thompson (ejt) (Creator)

Definition in file IKSolver.h.