KDL::TreeIkSolverVel Class Reference
[Kinematic Families]

This abstract class encapsulates the inverse velocity solver for a KDL::Tree. More...

#include <treeiksolver.hpp>

Inheritance diagram for KDL::TreeIkSolverVel:

[legend]

List of all members.

Public Member Functions
virtual double	CartToJnt (const JntArray &q_in, const Twists &v_in, JntArray &qdot_out)=0
virtual	~TreeIkSolverVel ()

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Detailed Description

This abstract class encapsulates the inverse velocity solver for a KDL::Tree.

Definition at line 53 of file treeiksolver.hpp.

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Constructor & Destructor Documentation

virtual KDL::TreeIkSolverVel::~TreeIkSolverVel

(

)

[inline, virtual]

Definition at line 68 of file treeiksolver.hpp.

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Member Function Documentation

virtual double KDL::TreeIkSolverVel::CartToJnt	(	const JntArray &	q_in,
		const Twists &	v_in,
		JntArray &	qdot_out
	)			[pure virtual]

Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocities.

Parameters:

	q_in	input joint positions
	v_in	input cartesian velocity
	qdot_out	output joint velocities

Returns:

if < 0 something went wrong distance to goal otherwise (weighted norm of v_in)

Implemented in KDL::TreeIkSolverVel_wdls.

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

• treeiksolver.hpp