KDL::SolverI Class Reference

#include <solveri.hpp>

Inheritance diagram for KDL::SolverI:

List of all members.

Public Types
enum	{   E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2,   E_NOT_UP_TO_DATE = -3, E_SIZE_MISMATCH = -4, E_MAX_ITERATIONS_EXCEEDED = -5, E_OUT_OF_RANGE = -6,   E_NOT_IMPLEMENTED = -7, E_SVD_FAILED = -8 }
Public Member Functions
virtual int	getError () const
	Return the latest error.
	SolverI ()
	Initialize latest error to E_NOERROR.
virtual const char *	strError (const int error) const
virtual void	updateInternalDataStructures ()=0
virtual	~SolverI ()
Protected Attributes
int	error
	Latest error, initialized to E_NOERROR in constructor.

---

Detailed Description

Solver interface supporting storage and description of the latest error.

Error codes: Zero (0) indicates no error, positive error codes indicate more of a warning (e.g. a degraded solution, but motion can continue), and negative error codes indicate failure (e.g. a singularity, and motion can not continue).

Error codes between -99 and +99 (inclusive) are reserved for system-wide error codes. Derived classes should use values > +100, and < -100.

Example use

 class MySolver : public SolverI
 {
 public:
    static const int E_CHILDFAILD = xxx;

    MySolver(SomeOtherSolver& other);
    virtual ~MySolver();
          int CartToJnt(...);
    virtual const char* strError(const int error) const;
 protected:
    SomeOtherSolver& child;
 };

 ...

 int MySolver::CartToJnt(...)
 {
     error = child->SomeCall();
     if (E_NOERROR != error) {
         error = E_CHILDFAILED;
     } else {
         ...
     }
     return error;
 }

 const char* MySolver::strError(const int error) const
 {
     if (E_CHILDFAILED == error) return "Child solver failed";
     else return SolverI::strError(error);
 }

 void someFunc()
 {
     SomeOtherSolver child = new SomeOtherSolver(...);
     MySolver parent = new MySolver(child);
     ...
     int rc = parent->CartToJnt(...);
     if (E_NOERROR != rc) {
         if (MySolver::E_CHILDFAILED == rc) {
             rc = child->getError();
             // cope with child failure 'rc'
         }
     }
     ...
 }

Definition at line 84 of file solveri.hpp.

---

Member Enumeration Documentation

anonymous enum

Enumerator:

E_DEGRADED	Converged but degraded solution (e.g. WDLS with psuedo-inverse singular)
E_NOERROR	No error.
E_NO_CONVERGE	Failed to converge.
E_UNDEFINED	Undefined value (e.g. computed a NAN, or tan(90 degrees) )
E_NOT_UP_TO_DATE	Chain size changed.
E_SIZE_MISMATCH	Input size does not match internal state.
E_MAX_ITERATIONS_EXCEEDED	Maximum number of iterations exceeded.
E_OUT_OF_RANGE	Requested index out of range.
E_NOT_IMPLEMENTED	Not yet implemented.
E_SVD_FAILED	Internal svd calculation failed.

Definition at line 87 of file solveri.hpp.

---

Constructor & Destructor Documentation

KDL::SolverI::SolverI

(

)

[inline]

Initialize latest error to E_NOERROR.

Definition at line 111 of file solveri.hpp.

virtual KDL::SolverI::~SolverI

(

)

[inline, virtual]

Definition at line 115 of file solveri.hpp.

---

Member Function Documentation

virtual int KDL::SolverI::getError

(

)

const [inline, virtual]

Return the latest error.

Definition at line 119 of file solveri.hpp.

virtual const char* KDL::SolverI::strError

(

const int

error

)

const [inline, virtual]

Return a description of the latest error

Returns:

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

Reimplemented in KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverPos_LMA, KDL::ChainJntToJacDotSolver, KDL::ChainIkSolverPos_NR_JL, KDL::ChainIkSolverVel_pinv, and KDL::ChainIkSolverPos_NR.

Definition at line 125 of file solveri.hpp.

virtual void KDL::SolverI::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.

Implemented in KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverAcc, KDL::ChainIkSolverPos_LMA, KDL::ChainIkSolverVel_pinv_nso, KDL::ChainFkSolverAcc, KDL::ChainJntToJacDotSolver, KDL::ChainIkSolverPos_NR_JL, KDL::ChainIkSolverVel_pinv, KDL::ChainFkSolverVel, KDL::ChainIkSolverVel, KDL::ChainIkSolverPos_NR, KDL::ChainIdSolver_Vereshchagin, KDL::ChainJntToJacSolver, KDL::ChainFdSolver_RNE, KDL::ChainFkSolverPos, KDL::ChainIdSolver_RNE, KDL::TreeIdSolver_RNE, KDL::ChainDynParam, KDL::ChainIkSolverPos, KDL::ChainIkSolverVel_pinv_givens, KDL::ChainFkSolverPos_recursive, and KDL::ChainFkSolverVel_recursive.

---

Member Data Documentation

int KDL::SolverI::error [protected]

Latest error, initialized to E_NOERROR in constructor.

Definition at line 149 of file solveri.hpp.

---

The documentation for this class was generated from the following file:

• solveri.hpp