Template Class AbstractIK

• Defined in File abstract_ik.hpp

Class Documentation

template<typename Positions>
class bitbots_splines::AbstractIK

Private Functions

virtual void init(moveit::core::RobotModelPtr kinematic_model) = 0

Initializes the class. This must be called before calculate() is called.

Parameters

kinematic_model – The MoveIt! kinematic model of the robot

virtual JointGoals calculate(const Positions &positions) = 0

Calculate motor joint goals from cartesian positions, i.e. solve the presented inverse kinematics problem

Parameters

positions – the cartesian positions of end points and custom additional information (e.g. support foot)

Returns

motor positions

virtual void reset() = 0

Reset the IK to its initial state.