ImFusion SDK 4.3
RobotSolverAsync Class Reference

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< FkResultrequestFk (const RobotGroupPtr &group, const JointPosition &jointPos)
 
std::future< IkResultrequestIk (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:
Search Tab / S to search, Esc to close