chainiksolverpos_nr.hpp
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00001 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 #ifndef KDLCHAINIKSOLVERPOS_NR_HPP
00023 #define KDLCHAINIKSOLVERPOS_NR_HPP
00024 
00025 #include "chainiksolver.hpp"
00026 #include "chainfksolver.hpp"
00027 
00028 namespace KDL {
00029 
00038     class ChainIkSolverPos_NR : public ChainIkSolverPos
00039     {
00040     public:
00041         static const int E_IKSOLVER_FAILED = -100; 
00042         static const int E_FKSOLVERPOS_FAILED = -101; 
00043 
00059         ChainIkSolverPos_NR(const Chain& chain,ChainFkSolverPos& fksolver,ChainIkSolverVel& iksolver,
00060                             unsigned int maxiter=100,double eps=1e-6);
00061         ~ChainIkSolverPos_NR();
00062 
00074         virtual int CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out);
00075 
00077         virtual const char* strError(const int error) const;
00078 
00080         virtual void updateInternalDataStructures();
00081     private:
00082         const Chain& chain;
00083 
00084         unsigned int nj;
00085         ChainIkSolverVel& iksolver;
00086         ChainFkSolverPos& fksolver;
00087         JntArray delta_q;
00088         Frame f;
00089         Twist delta_twist;
00090 
00091         unsigned int maxiter;
00092         double eps;
00093     };
00094 
00095 }
00096 
00097 #endif


orocos_kdl
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autogenerated on Fri Jun 14 2019 19:33:22