KrisLibrary
1.0.0
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Public Member Functions | |
void | GetIndices (const RobotKinematics3D &robot, const IKGoal &goal, std::vector< int > &indices) const |
bool | Solve (RobotKinematics3D &robot, const IKGoal &goal, AnalyticIKSolution &solution) const |
bool | Solve (int base, int ee, const RigidTransform &T, AnalyticIKSolution &solution) const |
void | UpdateRobot (int base, int ee, const AnalyticIKSolution &solution, int index, RobotKinematics3D &robot) const |
Public Attributes | |
std::map< std::pair< int, int >, std::shared_ptr< AnalyticalIKSolver > > | solvers |
Map of (base,ee) pairs to solvers. | |