kdl_tl.hpp
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30 
31 
32 #ifndef KDLCHAINIKSOLVERPOS_TL_HPP
33 #define KDLCHAINIKSOLVERPOS_TL_HPP
34 
35 #include <kdl/chainfksolverpos_recursive.hpp>
36 #include <kdl/chainiksolvervel_pinv.hpp>
37 
38 namespace TRAC_IK
39 {
40 class TRAC_IK;
41 }
42 
43 namespace KDL
44 {
45 
47 
49 {
50  friend class TRAC_IK::TRAC_IK;
51 
52 public:
53  ChainIkSolverPos_TL(const Chain& chain, const JntArray& q_min, const JntArray& q_max, double maxtime = 0.005, double eps = 1e-3, bool random_restart = false, bool try_jl_wrap = false);
54 
56 
57  int CartToJnt(const KDL::JntArray& q_init, const KDL::Frame& p_in, KDL::JntArray& q_out, const KDL::Twist bounds = KDL::Twist::Zero());
58 
59  inline void setMaxtime(double t)
60  {
61  maxtime = t;
62  }
63 
64 private:
65  const Chain chain;
68 
70 
74  double maxtime;
75 
76  double eps;
77 
78  bool rr;
79  bool wrap;
80 
81  std::vector<KDL::BasicJointType> types;
82 
83  inline void abort()
84  {
85  aborted = true;
86  }
87 
88  inline void reset()
89  {
90  aborted = false;
91  }
92 
93  bool aborted;
94 
97 
98  inline static double fRand(double min, double max)
99  {
100  double f = (double)rand() / RAND_MAX;
101  return min + f * (max - min);
102  }
103 
104 
105 };
106 
118 IMETHOD Twist diffRelative(const Frame & F_a_b1, const Frame & F_a_b2, double dt = 1)
119 {
120  return Twist(F_a_b1.M.Inverse() * diff(F_a_b1.p, F_a_b2.p, dt),
121  F_a_b1.M.Inverse() * diff(F_a_b1.M, F_a_b2.M, dt));
122 }
123 
124 }
125 
126 #endif
static Twist Zero()
void setMaxtime(double t)
Definition: kdl_tl.hpp:59
KDL::Twist bounds
Definition: trac_ik.hpp:141
Rotation Inverse() const
KDL::Chain chain
Definition: trac_ik.hpp:111
std::vector< KDL::BasicJointType > types
Definition: kdl_tl.hpp:81
IMETHOD Vector diff(const Vector &p_w_a, const Vector &p_w_b, double dt=1)
IMETHOD Twist diffRelative(const Frame &F_a_b1, const Frame &F_a_b2, double dt=1)
Definition: kdl_tl.hpp:118
static double fRand(double min, double max)
Definition: kdl_tl.hpp:98
KDL::ChainFkSolverPos_recursive fksolver
Definition: kdl_tl.hpp:72
Rotation M
int CartToJnt(const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist &bounds=KDL::Twist::Zero())
Definition: trac_ik.cpp:415
BasicJointType
Definition: kdl_tl.hpp:46
KDL::ChainIkSolverVel_pinv vik_solver
Definition: kdl_tl.hpp:71
#define IMETHOD


trac_ik_lib
Author(s): Patrick Beeson, Barrett Ames
autogenerated on Sat Sep 19 2020 03:40:57