chainiksolverpos_nr.hpp
Go to the documentation of this file.00001 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00002 00003 // Version: 1.0 00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00006 // URL: http://www.orocos.org/kdl 00007 00008 // This library is free software; you can redistribute it and/or 00009 // modify it under the terms of the GNU Lesser General Public 00010 // License as published by the Free Software Foundation; either 00011 // version 2.1 of the License, or (at your option) any later version. 00012 00013 // This library is distributed in the hope that it will be useful, 00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00016 // Lesser General Public License for more details. 00017 00018 // You should have received a copy of the GNU Lesser General Public 00019 // License along with this library; if not, write to the Free Software 00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA 00021 00022 #ifndef KDLCHAINIKSOLVERPOS_NR_HPP 00023 #define KDLCHAINIKSOLVERPOS_NR_HPP 00024 00025 #include "chainiksolver.hpp" 00026 #include "chainfksolver.hpp" 00027 00028 namespace KDL { 00029 00038 class ChainIkSolverPos_NR : public ChainIkSolverPos 00039 { 00040 public: 00056 ChainIkSolverPos_NR(const Chain& chain,ChainFkSolverPos& fksolver,ChainIkSolverVel& iksolver, 00057 unsigned int maxiter=100,double eps=1e-6); 00058 ~ChainIkSolverPos_NR(); 00059 00060 virtual int CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out); 00061 00062 private: 00063 const Chain chain; 00064 ChainIkSolverVel& iksolver; 00065 ChainFkSolverPos& fksolver; 00066 JntArray delta_q; 00067 Frame f; 00068 Twist delta_twist; 00069 00070 unsigned int maxiter; 00071 double eps; 00072 }; 00073 00074 } 00075 00076 #endif