Public Types
using	FkResult = Expected<std::map<std::string, isom3>>
using	IkResult = Expected<JointPosition>

Public Member Functions
	RobotSolverAsync (const RobotTree *tree)
bool	start ()
bool	stop ()
std::future< FkResult >	requestFk (const RobotGroupPtr &group, const JointPosition &jointPos)
std::future< IkResult >	requestIk (const RobotGroupPtr &group, const std::map< std::string, isom3 > &controllerBase_T_endpointsGoal, const std::optional< JointPosition > &init)
void	requestFk (const RobotGroupPtr &group, std::function< void(const FkResult &)> callback, const JointPosition &jointPos)
void	requestIk (const RobotGroupPtr &group, std::function< void(const IkResult &)> callback, const std::map< std::string, isom3 > &controllerBase_T_endpointsGoal, const std::optional< JointPosition > &init)
void	requestIk (const RobotChainPtr &group, std::function< void(const IkResult &)> callback, const isom3 &controllerBase_T_effector_goal, const std::optional< JointPosition > &init)

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

Public Types

Public Member Functions