This abstract class encapsulates the inverse velocity solver for a KDL::Chain. More...
#include <chainiksolver.hpp>
Public Member Functions | |
| virtual int | CartToJnt (const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)=0 |
| virtual int | CartToJnt (const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)=0 |
| virtual void | updateInternalDataStructures ()=0 |
| virtual | ~ChainIkSolverVel () |
Detailed Description
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
Definition at line 66 of file chainiksolver.hpp.
Constructor & Destructor Documentation
| virtual KDL::ChainIkSolverVel::~ChainIkSolverVel | ( | ) | [inline, virtual] |
Definition at line 91 of file chainiksolver.hpp.
Member Function Documentation
| virtual int KDL::ChainIkSolverVel::CartToJnt | ( | const JntArray & | q_in, |
| const Twist & | v_in, | ||
| JntArray & | qdot_out | ||
| ) | [pure virtual] |
Calculate inverse velocity kinematics, from joint positions and cartesian velocity to joint velocities.
- Parameters:
-
q_in input joint positions v_in input cartesian velocity qdot_out output joint velocities
- Returns:
- if < 0 something went wrong
Implemented in KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverVel_pinv, KDL::ChainIkSolverVel_pinv_nso, and KDL::ChainIkSolverVel_pinv_givens.
| virtual int KDL::ChainIkSolverVel::CartToJnt | ( | const JntArray & | q_init, |
| const FrameVel & | v_in, | ||
| JntArrayVel & | q_out | ||
| ) | [pure virtual] |
Calculate inverse position and velocity kinematics, from cartesian position and velocity to joint positions and velocities.
- Parameters:
-
q_init initial joint positions v_in input cartesian position and velocity q_out output joint position and velocity
- Returns:
- if < 0 something went wrong
Implemented in KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverVel_pinv, KDL::ChainIkSolverVel_pinv_nso, and KDL::ChainIkSolverVel_pinv_givens.
| virtual void KDL::ChainIkSolverVel::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::ChainIkSolverVel_wdls, KDL::ChainIkSolverVel_pinv_nso, KDL::ChainIkSolverVel_pinv, and KDL::ChainIkSolverVel_pinv_givens.
The documentation for this class was generated from the following file: