KDL::ChainIkSolverPos_NR_JL_coupling Class Reference

#include <chainiksolverpos_nr_jl_coupling.hpp>

Inheritance diagram for KDL::ChainIkSolverPos_NR_JL_coupling:

Public Member Functions
virtual int	CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)
	ChainIkSolverPos_NR_JL_coupling (const Chain_coupling &chain, const JntArray &q_min, const JntArray &q_max, ChainFkSolverPos &fksolver, ChainIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
	~ChainIkSolverPos_NR_JL_coupling ()
Public Member Functions inherited from KDL::ChainIkSolverPos
virtual void	updateInternalDataStructures ()=0
virtual	~ChainIkSolverPos ()
Public Member Functions inherited from KDL::SolverI
virtual int	getError () const
	SolverI ()
virtual const char *	strError (const int error) const
virtual	~SolverI ()

Private Attributes
const Chain_coupling	chain
JntArray	delta_q
Twist	delta_twist
double	eps
Frame	f
ChainFkSolverPos &	fksolver
ChainIkSolverVel &	iksolver
unsigned int	maxiter
JntArray	q_max
JntArray	q_min

Additional Inherited Members
Public Attributes inherited from KDL::SolverI
	E_DEGRADED
	E_MAX_ITERATIONS_EXCEEDED
	E_NO_CONVERGE
	E_NOERROR
	E_NOT_IMPLEMENTED
	E_NOT_UP_TO_DATE
	E_OUT_OF_RANGE
	E_SIZE_MISMATCH
	E_SVD_FAILED
	E_UNDEFINED
Protected Attributes inherited from KDL::SolverI
int	error

Detailed Description

Definition at line 43 of file chainiksolverpos_nr_jl_coupling.hpp.

Constructor & Destructor Documentation

KDL::ChainIkSolverPos_NR_JL_coupling::ChainIkSolverPos_NR_JL_coupling	(	const Chain_coupling &	chain,
		const JntArray &	q_min,
		const JntArray &	q_max,
		ChainFkSolverPos &	fksolver,
		ChainIkSolverVel &	iksolver,
		unsigned int	maxiter = 100,
		double	eps = 1e-6
	)

Definition at line 31 of file chainiksolverpos_nr_jl_coupling.cpp.

KDL::ChainIkSolverPos_NR_JL_coupling::~ChainIkSolverPos_NR_JL_coupling

(

)

Definition at line 124 of file chainiksolverpos_nr_jl_coupling.cpp.

Member Function Documentation

int KDL::ChainIkSolverPos_NR_JL_coupling::CartToJnt ( const JntArray &  q_init, const Frame &  p_in, JntArray &  q_out  )

virtual

Implements KDL::ChainIkSolverPos.

Definition at line 43 of file chainiksolverpos_nr_jl_coupling.cpp.

Member Data Documentation

const Chain_coupling KDL::ChainIkSolverPos_NR_JL_coupling::chain

private

Definition at line 73 of file chainiksolverpos_nr_jl_coupling.hpp.

JntArray KDL::ChainIkSolverPos_NR_JL_coupling::delta_q

private

Definition at line 78 of file chainiksolverpos_nr_jl_coupling.hpp.

Twist KDL::ChainIkSolverPos_NR_JL_coupling::delta_twist

private

Definition at line 80 of file chainiksolverpos_nr_jl_coupling.hpp.

double KDL::ChainIkSolverPos_NR_JL_coupling::eps

private

Definition at line 83 of file chainiksolverpos_nr_jl_coupling.hpp.

Frame KDL::ChainIkSolverPos_NR_JL_coupling::f

private

Definition at line 79 of file chainiksolverpos_nr_jl_coupling.hpp.

ChainFkSolverPos& KDL::ChainIkSolverPos_NR_JL_coupling::fksolver

private

Definition at line 76 of file chainiksolverpos_nr_jl_coupling.hpp.

ChainIkSolverVel& KDL::ChainIkSolverPos_NR_JL_coupling::iksolver

private

Definition at line 77 of file chainiksolverpos_nr_jl_coupling.hpp.

unsigned int KDL::ChainIkSolverPos_NR_JL_coupling::maxiter

private

Definition at line 82 of file chainiksolverpos_nr_jl_coupling.hpp.

JntArray KDL::ChainIkSolverPos_NR_JL_coupling::q_max

private

Definition at line 75 of file chainiksolverpos_nr_jl_coupling.hpp.

JntArray KDL::ChainIkSolverPos_NR_JL_coupling::q_min

private

Definition at line 74 of file chainiksolverpos_nr_jl_coupling.hpp.

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

• chainiksolverpos_nr_jl_coupling.hpp
• chainiksolverpos_nr_jl_coupling.cpp