Public Member Functions | Private Attributes
KDL::ChainIkSolverPos_NR Class Reference

#include <chainiksolverpos_nr.hpp>

Inheritance diagram for KDL::ChainIkSolverPos_NR:
Inheritance graph

List of all members.

Public Member Functions

virtual int CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)
 ChainIkSolverPos_NR (const Chain &chain, ChainFkSolverPos &fksolver, ChainIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
 ~ChainIkSolverPos_NR ()

Private Attributes

const Chain chain
JntArray delta_q
Twist delta_twist
double eps
Frame f
unsigned int maxiter

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::Chain.

Definition at line 38 of file chainiksolverpos_nr.hpp.

Constructor & Destructor Documentation

KDL::ChainIkSolverPos_NR::ChainIkSolverPos_NR ( const Chain chain,
ChainFkSolverPos fksolver,
ChainIkSolverVel iksolver,
unsigned int  maxiter = 100,
double  eps = 1e-6 

Constructor of the solver, it needs the chain, a forward position kinematics solver and an inverse velocity kinematics solver for that chain.

chainthe chain to calculate the inverse position for
fksolvera forward position kinematics solver
iksolveran inverse velocity kinematics solver
maxiterthe maximum Newton-Raphson iterations, default: 100
epsthe precision for the position, used to end the iterations, default: epsilon (defined in kdl.hpp)

Definition at line 26 of file chainiksolverpos_nr.cpp.

Definition at line 52 of file chainiksolverpos_nr.cpp.

Member Function Documentation

int KDL::ChainIkSolverPos_NR::CartToJnt ( const JntArray &  q_init,
const Frame p_in,
JntArray &  q_out 
) [virtual]

Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.

q_initinitial guess of the joint coordinates
p_ininput cartesian coordinates
q_outoutput joint coordinates
if < 0 something went wrong

Implements KDL::ChainIkSolverPos.

Definition at line 33 of file chainiksolverpos_nr.cpp.

Member Data Documentation

Definition at line 63 of file chainiksolverpos_nr.hpp.

Definition at line 66 of file chainiksolverpos_nr.hpp.

Definition at line 68 of file chainiksolverpos_nr.hpp.

Definition at line 71 of file chainiksolverpos_nr.hpp.

Definition at line 67 of file chainiksolverpos_nr.hpp.

Definition at line 65 of file chainiksolverpos_nr.hpp.

Definition at line 64 of file chainiksolverpos_nr.hpp.

unsigned int KDL::ChainIkSolverPos_NR::maxiter [private]

Definition at line 70 of file chainiksolverpos_nr.hpp.

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

Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Sat Dec 28 2013 17:17:26