#include <chainiksolverpos_nr.hpp>

Inheritance diagram for KDL::ChainIkSolverPos_NR:

Public Member Functions
virtual int	CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)
	ChainIkSolverPos_NR (const Chain &chain, ChainFkSolverPos &fksolver, ChainIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
	Child FK solver failed.
virtual const char *	strError (const int error) const
virtual void	updateInternalDataStructures ()
	~ChainIkSolverPos_NR ()
Static Public Attributes
static const int	E_FKSOLVERPOS_FAILED = -101
	Child IK solver vel failed.
static const int	E_IKSOLVER_FAILED = -100
Private Attributes
const Chain &	chain
JntArray	delta_q
Twist	delta_twist
double	eps
Frame	f
ChainFkSolverPos &	fksolver
ChainIkSolverVel &	iksolver
unsigned int	maxiter
unsigned int	nj

Detailed Description

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.

Definition at line 38 of file chainiksolverpos_nr.hpp.

Constructor & Destructor Documentation

KDL::ChainIkSolverPos_NR::ChainIkSolverPos_NR	(	const Chain &	chain,
		ChainFkSolverPos &	fksolver,
		ChainIkSolverVel &	iksolver,
		unsigned int	maxiter = `100`,
		double	eps = `1e-6`
	)

Child FK solver failed.

Constructor of the solver, it needs the chain, a forward position kinematics solver and an inverse velocity kinematics solver for that chain.

Parameters:

chain	the chain to calculate the inverse position for
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)

Returns:

Definition at line 26 of file chainiksolverpos_nr.cpp.

KDL::ChainIkSolverPos_NR::~ChainIkSolverPos_NR ( )

Definition at line 70 of file chainiksolverpos_nr.cpp.

Member Function Documentation

int KDL::ChainIkSolverPos_NR::CartToJnt	(	const JntArray &	q_init,
		const Frame &	p_in,
		JntArray &	q_out
	)		`[virtual]`

Find an output joint pose q_out, given a starting joint pose q_init and a desired cartesian pose p_in

Returns:: : E_NOERROR=solution converged to <eps in maxiter E_DEGRADED=solution converged to <eps in maxiter, but solution is degraded in quality (e.g. pseudo-inverse in iksolver is singular) E_IKSOLVER_FAILED=velocity solver failed E_NO_CONVERGE=solution did not converge (e.g. large displacement, low iterations)

Implements KDL::ChainIkSolverPos.

Definition at line 42 of file chainiksolverpos_nr.cpp.

const char * KDL::ChainIkSolverPos_NR::strError ( const int error ) const [virtual]

Return a description of the latest error

Returns:: if error is known then a description of error, otherwise "UNKNOWN ERROR"

Reimplemented from KDL::SolverI.

Definition at line 74 of file chainiksolverpos_nr.cpp.

void KDL::ChainIkSolverPos_NR::updateInternalDataStructures ( ) [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::ChainIkSolverPos.

Definition at line 35 of file chainiksolverpos_nr.cpp.