treeiksolverpos_nr_jl.hpp
Go to the documentation of this file.00001 // Copyright (C) 2007-2008 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00002 // Copyright (C) 2008 Mikael Mayer 00003 // Copyright (C) 2008 Julia Jesse 00004 00005 // Version: 1.0 00006 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00007 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00008 // URL: http://www.orocos.org/kdl 00009 00010 // This library is free software; you can redistribute it and/or 00011 // modify it under the terms of the GNU Lesser General Public 00012 // License as published by the Free Software Foundation; either 00013 // version 2.1 of the License, or (at your option) any later version. 00014 00015 // This library is distributed in the hope that it will be useful, 00016 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00018 // Lesser General Public License for more details. 00019 00020 // You should have received a copy of the GNU Lesser General Public 00021 // License along with this library; if not, write to the Free Software 00022 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA 00023 00024 #ifndef KDLTREEIKSOLVERPOS_NR_JL_HPP 00025 #define KDLTREEIKSOLVERPOS_NR_JL_HPP 00026 00027 #include "treeiksolver.hpp" 00028 #include "treefksolver.hpp" 00029 #include <vector> 00030 #include <string> 00031 00032 namespace KDL { 00033 00042 class TreeIkSolverPos_NR_JL: public TreeIkSolverPos { 00043 public: 00062 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); 00063 ~TreeIkSolverPos_NR_JL(); 00064 00065 virtual double CartToJnt(const JntArray& q_init, const Frames& p_in, JntArray& q_out); 00066 00067 private: 00068 const Tree tree; 00069 JntArray q_min; 00070 JntArray q_max; 00071 TreeIkSolverVel& iksolver; 00072 TreeFkSolverPos& fksolver; 00073 JntArray delta_q; 00074 Frames frames; 00075 Twists delta_twists; 00076 std::vector<std::string> endpoints; 00077 00078 unsigned int maxiter; 00079 double eps; 00080 }; 00081 00082 } 00083 00084 #endif