This abstract class encapsulates the inverse position solver for a KDL::Chain. More...
#include <treeiksolver.hpp>
Public Member Functions | |
virtual double | CartToJnt (const JntArray &q_init, const Frames &p_in, JntArray &q_out)=0 |
virtual | ~TreeIkSolverPos () |
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition at line 28 of file treeiksolver.hpp.
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inlinevirtual |
Definition at line 43 of file treeiksolver.hpp.
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pure virtual |
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
q_init | initial guess of the joint coordinates |
p_in | input cartesian coordinates |
q_out | output joint coordinates |
Implemented in KDL::TreeIkSolverPos_Online, and KDL::TreeIkSolverPos_NR_JL.