KDL::TreeIkSolverPos_NR_JL Class Reference

#include <treeiksolverpos_nr_jl.hpp>

Inheritance diagram for KDL::TreeIkSolverPos_NR_JL:

Public Member Functions
virtual double	CartToJnt (const JntArray &q_init, const Frames &p_in, JntArray &q_out)
	TreeIkSolverPos_NR_JL (const Tree &tree, const std::vector< std::string > &endpoints, const JntArray &q_min, const JntArray &q_max, TreeFkSolverPos &fksolver, TreeIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
	~TreeIkSolverPos_NR_JL ()
Public Member Functions inherited from KDL::TreeIkSolverPos
virtual	~TreeIkSolverPos ()

Private Attributes
JntArray	delta_q
Twists	delta_twists
std::vector< std::string >	endpoints
double	eps
TreeFkSolverPos &	fksolver
Frames	frames
TreeIkSolverVel &	iksolver
unsigned int	maxiter
JntArray	q_max
JntArray	q_min
const Tree	tree

Detailed Description

Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Tree. Takes joint limits into account.

Definition at line 42 of file treeiksolverpos_nr_jl.hpp.

Constructor & Destructor Documentation

KDL::TreeIkSolverPos_NR_JL::TreeIkSolverPos_NR_JL	(	const Tree &	tree,
		const std::vector< std::string > &	endpoints,
		const JntArray &	q_min,
		const JntArray &	q_max,
		TreeFkSolverPos &	fksolver,
		TreeIkSolverVel &	iksolver,
		unsigned int	maxiter = 100,
		double	eps = 1e-6
	)

Constructor of the solver, it needs the tree, a forward position kinematics solver and an inverse velocity kinematics solver for that tree, and a list of the segments you are interested in.

Parameters

tree	the tree to calculate the inverse position for
endpoints	the list of endpoints you are interested in.
q_max	the maximum joint positions
q_min	the minimum joint positions
fksolver	a forward position kinematics solver
iksolver	an inverse velocity kinematics solver
maxiter	the maximum Newton-Raphson iterations, default: 100
eps	the precision for the position, used to end the iterations, default: epsilon (defined in kdl.hpp)

Returns

Definition at line 27 of file treeiksolverpos_nr_jl.cpp.

KDL::TreeIkSolverPos_NR_JL::~TreeIkSolverPos_NR_JL

(

)

Definition at line 79 of file treeiksolverpos_nr_jl.cpp.

Member Function Documentation

double KDL::TreeIkSolverPos_NR_JL::CartToJnt ( const JntArray &  q_init, const Frames &  p_in, JntArray &  q_out  )

virtual

Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.

Parameters

q_init	initial guess of the joint coordinates
p_in	input cartesian coordinates
q_out	output joint coordinates

Returns

if < 0 something went wrong otherwise (>=0) remaining (weighted) distance to target

Implements KDL::TreeIkSolverPos.

Definition at line 42 of file treeiksolverpos_nr_jl.cpp.

Member Data Documentation

JntArray KDL::TreeIkSolverPos_NR_JL::delta_q

private

Definition at line 73 of file treeiksolverpos_nr_jl.hpp.

Twists KDL::TreeIkSolverPos_NR_JL::delta_twists

private

Definition at line 75 of file treeiksolverpos_nr_jl.hpp.

std::vector<std::string> KDL::TreeIkSolverPos_NR_JL::endpoints

private

Definition at line 76 of file treeiksolverpos_nr_jl.hpp.

double KDL::TreeIkSolverPos_NR_JL::eps

private

Definition at line 79 of file treeiksolverpos_nr_jl.hpp.

TreeFkSolverPos& KDL::TreeIkSolverPos_NR_JL::fksolver

private

Definition at line 72 of file treeiksolverpos_nr_jl.hpp.

Frames KDL::TreeIkSolverPos_NR_JL::frames

private

Definition at line 74 of file treeiksolverpos_nr_jl.hpp.

TreeIkSolverVel& KDL::TreeIkSolverPos_NR_JL::iksolver

private

Definition at line 71 of file treeiksolverpos_nr_jl.hpp.

unsigned int KDL::TreeIkSolverPos_NR_JL::maxiter

private

Definition at line 78 of file treeiksolverpos_nr_jl.hpp.

JntArray KDL::TreeIkSolverPos_NR_JL::q_max

private

Definition at line 70 of file treeiksolverpos_nr_jl.hpp.

JntArray KDL::TreeIkSolverPos_NR_JL::q_min

private

Definition at line 69 of file treeiksolverpos_nr_jl.hpp.

const Tree KDL::TreeIkSolverPos_NR_JL::tree

private

Definition at line 68 of file treeiksolverpos_nr_jl.hpp.

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

• treeiksolverpos_nr_jl.hpp
• treeiksolverpos_nr_jl.cpp