class IKData

Member values

Member name	Data type	Description
cartesian_pose	Pose	Cartesian pose of the end effector used to calculate the corresponding joint angles
guess	JointAngles	Initial guess for the joint angles

Member functions

Function name	Return type	Input type	Description
has_cartesian_pose() const	bool	void	Returns true if cartesian_pose is set.
cartesian_pose()	const Pose&	void	Returns the current value of cartesian_pose. If cartesian_pose is not set, returns a Pose with none of its fields set (possibly cartesian_pose::default_instance()).
mutable_cartesian_pose()	Pose *	void	Returns a pointer to the mutable Pose object that stores the field's value. If the field was not set prior to the call, then the returned Pose will have none of its fields set (i.e. it will be identical to a newly-allocated Pose). After calling this, has_cartesian_pose() will return true and cartesian_pose() will return a reference to the same instance of Pose.
clear_cartesian_pose()	void	void	Clears the value of the field. After calling this, has_cartesian_pose() will return false and cartesian_pose() will return the default value.
set_allocated_cartesian_pose()	void	Pose *	Sets the Pose object to the field and frees the previous field value if it exists. If the Pose pointer is not NULL, the message takes ownership of the allocated Pose object and has_ Pose() will return true. Otherwise, if the cartesian_pose is NULL, the behavior is the same as calling clear_cartesian_pose().
release_cartesian_pose()	Pose *	void	Releases the ownership of the field and returns the pointer of the Pose object. After calling this, caller takes the ownership of the allocated Pose object, has_cartesian_pose() will return false, and cartesian_pose() will return the default value.
has_guess() const	bool	void	Returns true if guess is set.
guess()	const JointAngles&	void	Returns the current value of guess. If guess is not set, returns a JointAngles with none of its fields set (possibly guess::default_instance()).
mutable_guess()	JointAngles *	void	Returns a pointer to the mutable JointAngles object that stores the field's value. If the field was not set prior to the call, then the returned JointAngles will have none of its fields set (i.e. it will be identical to a newly-allocated JointAngles). After calling this, has_guess() will return true and guess() will return a reference to the same instance of JointAngles.
clear_guess()	void	void	Clears the value of the field. After calling this, has_guess() will return false and guess() will return the default value.
set_allocated_guess()	void	JointAngles *	Sets the JointAngles object to the field and frees the previous field value if it exists. If the JointAngles pointer is not NULL, the message takes ownership of the allocated JointAngles object and has_ JointAngles() will return true. Otherwise, if the guess is NULL, the behavior is the same as calling clear_guess().
release_guess()	JointAngles *	void	Releases the ownership of the field and returns the pointer of the JointAngles object. After calling this, caller takes the ownership of the allocated JointAngles object, has_guess() will return false, and guess() will return the default value.

Parent topic: Base (C++)