#include <chainiksolverpos_nr_jl.hpp>
Public Member Functions | |
virtual int | CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out) |
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) | |
~ChainIkSolverPos_NR_JL () | |
Private Attributes | |
const Chain | chain |
JntArray | delta_q |
Twist | delta_twist |
double | eps |
Frame | f |
ChainFkSolverPos & | fksolver |
ChainIkSolverVel & | iksolver |
unsigned int | maxiter |
JntArray | q_max |
JntArray | q_min |
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. Takes joint limits into account.
Definition at line 40 of file chainiksolverpos_nr_jl.hpp.
KDL::ChainIkSolverPos_NR_JL::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 |
||
) |
Constructor of the solver, it needs the chain, a forward position kinematics solver and an inverse velocity kinematics solver for that chain.
chain | the chain to calculate the inverse position for |
q_min | the minimum joint positions |
q_max | the maximum joint positions |
fksolver | a forward position kinematics solver |
iksolver | an inverse velocity kinematics solver |
maxiter | the maximum Newton-Raphson iterations, default: 100 |
eps | the precision for the position, used to end the iterations, default: epsilon (defined in kdl.hpp) |
Definition at line 28 of file chainiksolverpos_nr_jl.cpp.
Definition at line 69 of file chainiksolverpos_nr_jl.cpp.
int KDL::ChainIkSolverPos_NR_JL::CartToJnt | ( | const JntArray & | q_init, |
const Frame & | p_in, | ||
JntArray & | q_out | ||
) | [virtual] |
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
q_init | initial guess of the joint coordinates |
p_in | input cartesian coordinates |
q_out | output joint coordinates |
Implements KDL::ChainIkSolverPos.
Definition at line 36 of file chainiksolverpos_nr_jl.cpp.
const Chain KDL::ChainIkSolverPos_NR_JL::chain [private] |
Definition at line 66 of file chainiksolverpos_nr_jl.hpp.
JntArray KDL::ChainIkSolverPos_NR_JL::delta_q [private] |
Definition at line 71 of file chainiksolverpos_nr_jl.hpp.
Definition at line 76 of file chainiksolverpos_nr_jl.hpp.
double KDL::ChainIkSolverPos_NR_JL::eps [private] |
Definition at line 73 of file chainiksolverpos_nr_jl.hpp.
Frame KDL::ChainIkSolverPos_NR_JL::f [private] |
Definition at line 75 of file chainiksolverpos_nr_jl.hpp.
Definition at line 70 of file chainiksolverpos_nr_jl.hpp.
Definition at line 69 of file chainiksolverpos_nr_jl.hpp.
unsigned int KDL::ChainIkSolverPos_NR_JL::maxiter [private] |
Definition at line 72 of file chainiksolverpos_nr_jl.hpp.
JntArray KDL::ChainIkSolverPos_NR_JL::q_max [private] |
Definition at line 68 of file chainiksolverpos_nr_jl.hpp.
JntArray KDL::ChainIkSolverPos_NR_JL::q_min [private] |
Definition at line 67 of file chainiksolverpos_nr_jl.hpp.