This abstract class encapsulates the inverse acceleration solver for a KDL::Chain.
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#include <chainiksolver.hpp>
List of all members.
Public Member Functions |
virtual int | CartToJnt (const JntArray &q_in, const JntArray &qdot_in, const Twist a_in, JntArray &qdotdot_out)=0 |
virtual int | CartTojnt (const JntArray &q_init, const FrameAcc &a_in, JntArrayAcc &q_out)=0 |
virtual int | CartToJnt (const JntArray &q_in, const Twist &v_in, const Twist &a_in, JntArray &qdot_out, JntArray &qdotdot_out)=0 |
virtual int | CartTojnt (const JntArray &q_init, const Frame &p_in, const JntArray &qdot_in, const Twist &a_in, JntArray &q_out, JntArray &qdotdot_out)=0 |
virtual | ~ChainIkSolverAcc () |
Detailed Description
This abstract class encapsulates the inverse acceleration solver for a KDL::Chain.
Definition at line 101 of file chainiksolver.hpp.
Constructor & Destructor Documentation
Member Function Documentation
Calculate inverse acceleration kinematics from joint positions, joint velocities and cartesian acceleration to joint accelerations.
- Parameters:
-
q_in | input joint positions |
qdot_in | input joint velocities |
a_in | input cartesian acceleration |
qdotdot_out | output joint accelerations |
- Returns:
- if < 0 something went wrong
Calculate inverse position, velocity and acceration kinematics from cartesian coordinates to joint coordinates
- Parameters:
-
q_init | initial guess for joint positions |
a_in | input cartesian position, velocity and acceleration |
q_out | output joint position, velocity and acceleration |
- Returns:
- if < 0 something went wrong
Calculate inverse velocity and acceleration kinematics from joint positions and cartesian velocity and acceleration to joint velocities and accelerations.
- Parameters:
-
q_in | input joint positions |
v_in | input cartesian velocity |
a_in | input cartesian acceleration |
qdot_out | output joint velocities |
qdotdot_out | output joint accelerations |
- Returns:
- if < 0 something went wrong
Calculate inverse position and acceleration kinematics from joint velocities and cartesian position and acceleration to joint positions and accelerations
- Parameters:
-
q_init | initial guess for joint positions |
p_in | input cartesian position |
qdot_in | input joint velocities |
a_in | input cartesian acceleration |
q_out | output joint positions |
qdotdot_out | output joint accelerations |
- Returns:
- if < 0 something went wrong
The documentation for this class was generated from the following file: