This abstract class encapsulates the inverse velocity solver for a KDL::Tree. More...
#include <treeiksolver.hpp>
Public Member Functions | |
virtual double | CartToJnt (const JntArray &q_in, const Twists &v_in, JntArray &qdot_out)=0 |
virtual | ~TreeIkSolverVel () |
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
Definition at line 54 of file treeiksolver.hpp.
virtual KDL::TreeIkSolverVel::~TreeIkSolverVel | ( | ) | [inline, virtual] |
Definition at line 69 of file treeiksolver.hpp.
virtual double KDL::TreeIkSolverVel::CartToJnt | ( | const JntArray & | q_in, |
const Twists & | v_in, | ||
JntArray & | qdot_out | ||
) | [pure virtual] |
Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocities.
q_in | input joint positions |
v_in | input cartesian velocity |
qdot_out | output joint velocities |
Implemented in KDL::TreeIkSolverVel_wdls.