RLG that sets a virtual linkage of free dof's using analytic IK. More...

#include <RLG.h>

Inheritance diagram for FreeRLG:

Public Member Functions
	FreeRLG (RobotKinematics3D &robot, const JointStructure &js)

void	SampleFromRoot ()

virtual bool	SolveAnalyticIKParent (int k) const

Public Member Functions inherited from RLG
	RLG (RobotKinematics3D &robot, const JointStructure &js)

void	SampleFrom (int k)

void	Sample (const vector< IKGoal > &ik)

void	Sample (const IKGoal &goal)

void	IterateParent (int k)

void	IterateChild (int k)

void	SampleParent (int k)

void	SampleChild (int k)

void	GetAnglesParent (int k, vector< AngleSet > &a) const

void	GetAnglesChild (int k, vector< AngleSet > &a) const

virtual bool	SolveAnalyticIKChild (int k) const

Additional Inherited Members
Public Attributes inherited from RLG
RobotKinematics3D &	robot

const JointStructure &	js

Detailed Description

RLG that sets a virtual linkage of free dof's using analytic IK.

Assumes joints 0-2 are rigid body translation, 3-5 rotation.

The documentation for this class was generated from the following files:

Public Member Functions