This abstract class encapsulates the inverse acceleration solver for a KDL::Chain. More...
#include <chainiksolver.hpp>
Public Member Functions | |
| virtual int | CartToJnt (const JntArray &q_in, const JntArray &qdot_in, const Twist a_in, JntArray &qdotdot_out)=0 |
| virtual int | CartTojnt (const JntArray &q_init, const FrameAcc &a_in, JntArrayAcc &q_out)=0 |
| virtual int | CartToJnt (const JntArray &q_in, const Twist &v_in, const Twist &a_in, JntArray &qdot_out, JntArray &qdotdot_out)=0 |
| virtual int | CartTojnt (const JntArray &q_init, const Frame &p_in, const JntArray &qdot_in, const Twist &a_in, JntArray &q_out, JntArray &qdotdot_out)=0 |
| virtual void | updateInternalDataStructures ()=0 |
| virtual | ~ChainIkSolverAcc () |
 Public Member Functions inherited from KDL::SolverI | |
| virtual int | getError () const |
| Return the latest error. More... | |
| SolverI () | |
| Initialize latest error to E_NOERROR. More... | |
| virtual const char * | strError (const int error) const |
| virtual | ~SolverI () |
Additional Inherited Members | |
| Public Types inherited from KDL::SolverI | |
| 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 } |
| Protected Attributes inherited from KDL::SolverI | |
| int | error |
| Latest error, initialized to E_NOERROR in constructor. More... | |
Detailed Description
This abstract class encapsulates the inverse acceleration solver for a KDL::Chain.
Definition at line 102 of file chainiksolver.hpp.
Constructor & Destructor Documentation
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inlinevirtual |
Definition at line 163 of file chainiksolver.hpp.
Member Function Documentation
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pure virtual |
Calculate inverse acceleration kinematics from joint positions, joint velocities and cartesian acceleration to joint accelerations.
- Parameters
-
q_in input joint positions qdot_in input joint velocities a_in input cartesian acceleration qdotdot_out output joint accelerations
- Returns
- if < 0 something went wrong
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pure virtual |
Calculate inverse position, velocity and acceration kinematics from cartesian coordinates to joint coordinates
- Parameters
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q_init initial guess for joint positions a_in input cartesian position, velocity and acceleration q_out output joint position, velocity and acceleration
- Returns
- if < 0 something went wrong
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pure virtual |
Calculate inverse velocity and acceleration kinematics from joint positions and cartesian velocity and acceleration to joint velocities and accelerations.
- Parameters
-
q_in input joint positions v_in input cartesian velocity a_in input cartesian acceleration qdot_out output joint velocities qdotdot_out output joint accelerations
- Returns
- if < 0 something went wrong
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pure virtual |
Calculate inverse position and acceleration kinematics from joint velocities and cartesian position and acceleration to joint positions and accelerations
- Parameters
-
q_init initial guess for joint positions p_in input cartesian position qdot_in input joint velocities a_in input cartesian acceleration q_out output joint positions qdotdot_out output joint accelerations
- Returns
- if < 0 something went wrong
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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.
The documentation for this class was generated from the following file: