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This abstract class encapsulates the inverse position solver for a KDL::Chain. More...
#include <chainiksolver.hpp>
Public Member Functions | |
virtual int | CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)=0 |
virtual | ~ChainIkSolverPos () |
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition at line 41 of file chainiksolver.hpp.
virtual KDL::ChainIkSolverPos::~ChainIkSolverPos | ( | ) | [inline, virtual] |
Definition at line 55 of file chainiksolver.hpp.
virtual int KDL::ChainIkSolverPos::CartToJnt | ( | const JntArray & | q_init, | |
const Frame & | p_in, | |||
JntArray & | q_out | |||
) | [pure virtual] |
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
q_init | initial guess of the joint coordinates | |
p_in | input cartesian coordinates | |
q_out | output joint coordinates |
Implemented in KDL::ChainIkSolverPos_NR, and KDL::ChainIkSolverPos_NR_JL.