IKSolver::Orientation Struct Reference
Abstract base class for orientation information. More...
#include <IKSolver.h>
Inheritance diagram for IKSolver::Orientation:
Detailed Description
Abstract base class for orientation information.
Subclasses may allow for some freedom in solutions -- not every solution has to be to a single rotation!
Definition at line 84 of file IKSolver.h.
Public Member Functions | |
| virtual | ~Orientation () |
| virtual void | computeErrorGradient (const Point &p, const Rotation &r, fmat::Quaternion &de) const =0 |
| return quaternion indicating direction of decreasing error at point p and rotation r | |
Constructor & Destructor Documentation
| virtual IKSolver::Orientation::~Orientation | ( | ) | [virtual] |
Definition at line 85 of file IKSolver.h.
Member Function Documentation
| virtual void IKSolver::Orientation::computeErrorGradient | ( | const Point & | p, | |
| const Rotation & | r, | |||
| fmat::Quaternion & | de | |||
| ) | const [pure virtual] |
return quaternion indicating direction of decreasing error at point p and rotation r
Implemented in IKSolver::Rotation, and IKSolver::Parallel.
Referenced by IKGradientSolver::step().
The documentation for this struct was generated from the following file:
