24 #ifndef KDLTREEIKSOLVERPOS_NR_JL_HPP 25 #define KDLTREEIKSOLVERPOS_NR_JL_HPP This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree...
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)
This class represents an fixed size array containing joint values of a KDL::Chain.
std::vector< std::string > endpoints
TreeFkSolverPos & fksolver
TreeIkSolverVel & iksolver
virtual double CartToJnt(const JntArray &q_init, const Frames &p_in, JntArray &q_out)
std::map< std::string, Frame > Frames
This abstract class encapsulates the inverse position solver for a KDL::Chain.
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
std::map< std::string, Twist > Twists
This class encapsulates a tree kinematic interconnection structure. It is built out of segments...