Interface for the sampling a configuration that solves an IK problem. More...

#include <QIKSampler.hpp>

Public Types
typedef rw::core::Ptr< QIKSampler >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const QIKSampler >	CPtr
	smart pointer type to this const class

Public Member Functions
rw::math::Q	sample (const rw::math::Transform3D<> &target)
	Sample a configuration that solves an IK problem for target. More...

bool	empty () const
	True if the sampler is known to contain no more configurations.

virtual	~QIKSampler ()
	Destructor.

Static Public Member Functions
static QIKSampler::Ptr	make (rw::core::Ptr< rw::models::Device > device, const rw::kinematics::State &state, rw::core::Ptr< rw::invkin::IterativeIK > solver=NULL, rw::core::Ptr< QSampler > seed=NULL, int maxAttempts=-1)
	An IK sampler based on an iterative IK solver. More...

static QIKSampler::Ptr	makeConstrained (QIKSampler::Ptr sampler, rw::core::Ptr< QConstraint > constraint, int maxAttempts=-1)
	An IK sampler filtered by a constraint. More...

Protected Member Functions
	QIKSampler ()
	Constructor.

virtual rw::math::Q	doSample (const rw::math::Transform3D<> &target)=0
	Subclass implementation of the sample() method.

virtual bool	doEmpty () const
	Subclass implementation of the empty() method. More...

Detailed Description

Interface for the sampling a configuration that solves an IK problem.

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

Public Types