A sampler for closed-chain kinematics that takes joint workspace bounds into account. More...

#include <RLG.h>

Inheritance diagram for RLG:

Public Member Functions
	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	SolveAnalyticIKParent (int k) const

virtual bool	SolveAnalyticIKChild (int k) const

Detailed Description

A sampler for closed-chain kinematics that takes joint workspace bounds into account.

Analytical IK solutions can be incorporated by overloading the SolveAnalyticalIK[X]() functions

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

Public Member Functions