This abstract class encapsulates the inverse position solver for a KDL::Chain. More...
#include <treeiksolver.hpp>
Public Member Functions | |
virtual double | CartToJnt (const JntArray &q_init, const Frames &p_in, JntArray &q_out)=0 |
virtual | ~TreeIkSolverPos () |
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition at line 28 of file treeiksolver.hpp.
virtual KDL::TreeIkSolverPos::~TreeIkSolverPos | ( | ) | [inline, virtual] |
Definition at line 43 of file treeiksolver.hpp.
virtual double KDL::TreeIkSolverPos::CartToJnt | ( | const JntArray & | q_init, |
const Frames & | p_in, | ||
JntArray & | q_out | ||
) | [pure 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 |
Implemented in KDL::TreeIkSolverPos_Online, and KDL::TreeIkSolverPos_NR_JL.