chainiksolverpos_nr_jl.hpp
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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 KDLCHAINIKSOLVERPOS_NR_JL_HPP
00025 #define KDLCHAINIKSOLVERPOS_NR_JL_HPP
00026 
00027 #include "chainiksolver.hpp"
00028 #include "chainfksolver.hpp"
00029 
00030 namespace KDL {
00031 
00040     class ChainIkSolverPos_NR_JL : public ChainIkSolverPos
00041     {
00042     public:
00060         ChainIkSolverPos_NR_JL(const Chain& chain,const JntArray& q_min, const JntArray& q_max, ChainFkSolverPos& fksolver,ChainIkSolverVel& iksolver,unsigned int maxiter=100,double eps=1e-6);
00061         ~ChainIkSolverPos_NR_JL();
00062 
00063         virtual int CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out);
00064 
00065     private:
00066         const Chain chain;
00067         JntArray q_min;
00068         JntArray q_max;
00069         ChainIkSolverVel& iksolver;
00070         ChainFkSolverPos& fksolver;
00071         JntArray delta_q;
00072         unsigned int maxiter;
00073         double eps;
00074 
00075         Frame f;
00076         Twist delta_twist;
00077 
00078     };
00079 
00080 }
00081 
00082 #endif


orocos_kdl
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autogenerated on Wed Aug 26 2015 15:14:14