Struct IKSolver

Defined in File ik_solver.h

Inheritance Relationships

Derived Type

public reach::NoOpIKSolver (Struct NoOpIKSolver)

Struct Documentation

struct IKSolver

Interface for solving inverse kinematics.

Subclassed by reach::NoOpIKSolver

Public Types

using Ptr = std::shared_ptr<IKSolver>

using ConstPtr = std::shared_ptr<const IKSolver>

Public Functions

IKSolver() = default

virtual ~IKSolver() = default

virtual std::vector<std::string> getJointNames() const = 0: Returns the joint names of the robot.

virtual std::vector<std::vector<double>> solveIK(const Eigen::Isometry3d &target, const std::map<std::string, double> &seed) const = 0: Solves IK for a given target pose and seed state.