KDL::TreeIkSolverPos Class Reference
[Kinematic Families]

This abstract class encapsulates the inverse position solver for a KDL::Chain. More...

#include <treeiksolver.hpp>

Inheritance diagram for KDL::TreeIkSolverPos:

[legend]

List of all members.

Public Member Functions
virtual double	CartToJnt (const JntArray &q_init, const Frames &p_in, JntArray &q_out)=0
virtual	~TreeIkSolverPos ()

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Detailed Description

This abstract class encapsulates the inverse position solver for a KDL::Chain.

Definition at line 27 of file treeiksolver.hpp.

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Constructor & Destructor Documentation

virtual KDL::TreeIkSolverPos::~TreeIkSolverPos

(

)

[inline, virtual]

Definition at line 42 of file treeiksolver.hpp.

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Member Function Documentation

virtual double KDL::TreeIkSolverPos::CartToJnt	(	const JntArray &	q_init,
		const Frames &	p_in,
		JntArray &	q_out
	)			[pure virtual]

Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.

Parameters:

	q_init	initial guess of the joint coordinates
	p_in	input cartesian coordinates
	q_out	output joint coordinates

Returns:

if < 0 something went wrong otherwise (>=0) remaining (weighted) distance to target

Implemented in KDL::TreeIkSolverPos_NR_JL, and KDL::TreeIkSolverPos_Online.

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

• treeiksolver.hpp