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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:
Inheritance graph
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List of all members.

Public Member Functions

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

Detailed Description

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

Definition at line 27 of file treeiksolver.hpp.


Constructor & Destructor Documentation

virtual KDL::TreeIkSolverPos::~TreeIkSolverPos (  )  [inline, virtual]

Definition at line 42 of file treeiksolver.hpp.


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.


The documentation for this class was generated from the following file:
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orocos_kdl
Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Fri Mar 1 16:20:17 2013