This abstract class encapsulates the inverse position solver for a KDL::Chain. More...
#include <chainiksolver.hpp>
Public Member Functions | |
| virtual int | CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)=0 |
| virtual void | updateInternalDataStructures ()=0 |
| virtual | ~ChainIkSolverPos () |
Detailed Description
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition at line 42 of file chainiksolver.hpp.
Constructor & Destructor Documentation
| virtual KDL::ChainIkSolverPos::~ChainIkSolverPos | ( | ) | [inline, virtual] |
Definition at line 56 of file chainiksolver.hpp.
Member Function Documentation
| virtual int KDL::ChainIkSolverPos::CartToJnt | ( | const JntArray & | q_init, |
| const Frame & | p_in, | ||
| JntArray & | q_out | ||
| ) | [pure virtual] |
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
- Parameters:
-
q_init initial guess of the joint coordinates p_in input cartesian coordinates q_out output joint coordinates
- Returns:
- if < 0 something went wrong
Implemented in KDL::ChainIkSolverPos_LMA, KDL::ChainIkSolverPos_NR_JL, and KDL::ChainIkSolverPos_NR.
| virtual void KDL::ChainIkSolverPos::updateInternalDataStructures | ( | ) | [pure virtual] |
Update the internal data structures. This is required if the number of segments or number of joints of a chain/tree have changed. This provides a single point of contact for solver memory allocations.
Implements KDL::SolverI.
Implemented in KDL::ChainIkSolverPos_LMA, KDL::ChainIkSolverPos_NR_JL, and KDL::ChainIkSolverPos_NR.
The documentation for this class was generated from the following file: