KDL::ChainIkSolverPos_NR Class Reference
[Kinematic Families]

#include <chainiksolverpos_nr.hpp>

Inheritance diagram for KDL::ChainIkSolverPos_NR:
Inheritance graph

List of all members.

Public Member Functions

virtual int CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)
 ChainIkSolverPos_NR (const Chain &chain, ChainFkSolverPos &fksolver, ChainIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
 ~ChainIkSolverPos_NR ()

Private Attributes

const Chain chain
JntArray delta_q
Twist delta_twist
double eps
Frame f
unsigned int maxiter

Detailed Description

Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Chain.

Definition at line 38 of file chainiksolverpos_nr.hpp.

Constructor & Destructor Documentation

KDL::ChainIkSolverPos_NR::ChainIkSolverPos_NR ( const Chain chain,
ChainFkSolverPos fksolver,
ChainIkSolverVel iksolver,
unsigned int  maxiter = 100,
double  eps = 1e-6 

Constructor of the solver, it needs the chain, a forward position kinematics solver and an inverse velocity kinematics solver for that chain.

chain the chain to calculate the inverse position for
fksolver a forward position kinematics solver
iksolver an inverse velocity kinematics solver
maxiter the maximum Newton-Raphson iterations, default: 100
eps the precision for the position, used to end the iterations, default: epsilon (defined in kdl.hpp)

Definition at line 24 of file chainiksolverpos_nr.cpp.

KDL::ChainIkSolverPos_NR::~ChainIkSolverPos_NR (  ) 

Definition at line 50 of file chainiksolverpos_nr.cpp.

Member Function Documentation

int KDL::ChainIkSolverPos_NR::CartToJnt ( const JntArray &  q_init,
const Frame p_in,
JntArray &  q_out 
) [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
if < 0 something went wrong

Implements KDL::ChainIkSolverPos.

Definition at line 31 of file chainiksolverpos_nr.cpp.

Member Data Documentation

Definition at line 63 of file chainiksolverpos_nr.hpp.

Definition at line 66 of file chainiksolverpos_nr.hpp.

Definition at line 68 of file chainiksolverpos_nr.hpp.

Definition at line 71 of file chainiksolverpos_nr.hpp.

Definition at line 67 of file chainiksolverpos_nr.hpp.

Definition at line 65 of file chainiksolverpos_nr.hpp.

Definition at line 64 of file chainiksolverpos_nr.hpp.

unsigned int KDL::ChainIkSolverPos_NR::maxiter [private]

Definition at line 70 of file chainiksolverpos_nr.hpp.

The documentation for this class was generated from the following files:
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Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Fri Mar 1 16:20:15 2013