chainiksolver.hpp
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00001 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 #ifndef KDL_CHAIN_IKSOLVER_HPP
00023 #define KDL_CHAIN_IKSOLVER_HPP
00024 
00025 #include "chain.hpp"
00026 #include "frames.hpp"
00027 #include "framevel.hpp"
00028 #include "frameacc.hpp"
00029 #include "jntarray.hpp"
00030 #include "jntarrayvel.hpp"
00031 #include "jntarrayacc.hpp"
00032 
00033 namespace KDL {
00034 
00041     class ChainIkSolverPos {
00042     public:
00053         virtual int CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out)=0;
00054 
00055         virtual ~ChainIkSolverPos(){};
00056     };
00057 
00064     class ChainIkSolverVel {
00065     public:
00076         virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out)=0;
00087         virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out)=0;
00088 
00089         virtual ~ChainIkSolverVel(){};
00090 
00091     };
00092 
00100     class ChainIkSolverAcc {
00101     public:
00113         virtual int CartToJnt(const JntArray& q_in, const JntArray& qdot_in, const Twist a_in,
00114                          JntArray& qdotdot_out)=0;
00125         virtual int CartTojnt(const JntArray& q_init, const FrameAcc& a_in,
00126                          JntArrayAcc& q_out)=0;
00127 
00141         virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, const Twist& a_in,
00142                          JntArray& qdot_out, JntArray& qdotdot_out)=0;
00157         virtual int CartTojnt(const JntArray& q_init, const Frame& p_in, const JntArray& qdot_in, const Twist& a_in,
00158                          JntArray& q_out, JntArray& qdotdot_out)=0;
00159 
00160         virtual ~ChainIkSolverAcc(){};
00161     };
00162 
00163 
00164 }//end of namespace KDL
00165 
00166 #endif


orocos_kdl
Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Sat Dec 28 2013 17:17:25