25 #ifndef KDLTREEIKSOLVERPOS_ONLINE_HPP 26 #define KDLTREEIKSOLVERPOS_ONLINE_HPP 65 const std::vector<std::string>& endpoints,
69 const double x_dot_trans_max,
70 const double x_dot_rot_max,
void enforceJointVelLimits()
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree...
TreeFkSolverPos & fksolver_
TreeIkSolverVel & iksolver_
This class represents an fixed size array containing joint values of a KDL::Chain.
~TreeIkSolverPos_Online()
TreeIkSolverPos_Online(const double &nr_of_jnts, const std::vector< std::string > &endpoints, const JntArray &q_min, const JntArray &q_max, const JntArray &q_dot_max, const double x_dot_trans_max, const double x_dot_rot_max, TreeFkSolverPos &fksolver, TreeIkSolverVel &iksolver)
represents both translational and rotational velocities.
void enforceCartVelLimits()
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.
virtual double CartToJnt(const JntArray &q_in, const Frames &p_in, JntArray &q_out)
std::map< std::string, Twist > Twists