KDL::TreeIkSolverPos_NR_JL Class Reference
[Kinematic Families]

#include <treeiksolverpos_nr_jl.hpp>

Inheritance diagram for KDL::TreeIkSolverPos_NR_JL:

Public Member Functions
virtual double	CartToJnt (const JntArray &q_init, const Frames &p_in, JntArray &q_out)
	TreeIkSolverPos_NR_JL (const Tree &tree, const std::vector< std::string > &endpoints, const JntArray &q_min, const JntArray &q_max, TreeFkSolverPos &fksolver, TreeIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
	~TreeIkSolverPos_NR_JL ()
Private Attributes
JntArray	delta_q
Twists	delta_twists
std::vector< std::string >	endpoints
double	eps
TreeFkSolverPos &	fksolver
Frames	frames
TreeIkSolverVel &	iksolver
unsigned int	maxiter
JntArray	q_max
JntArray	q_min
const Tree	tree

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::Tree. Takes joint limits into account.

Definition at line 42 of file treeiksolverpos_nr_jl.hpp.

Constructor & Destructor Documentation

KDL::TreeIkSolverPos_NR_JL::TreeIkSolverPos_NR_JL	(	const Tree &	tree,
		const std::vector< std::string > &	endpoints,
		const JntArray &	q_min,
		const JntArray &	q_max,
		TreeFkSolverPos &	fksolver,
		TreeIkSolverVel &	iksolver,
		unsigned int	maxiter = `100`,
		double	eps = `1e-6`
	)

Constructor of the solver, it needs the tree, a forward position kinematics solver and an inverse velocity kinematics solver for that tree, and a list of the segments you are interested in.

Parameters:

	tree	the tree to calculate the inverse position for
	endpoints	the list of endpoints you are interested in.
	q_max	the maximum joint positions
	q_min	the minimum joint positions
	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)