#include <chainiksolver_pos_nr_jl_mimic.hpp>

Inheritance diagram for KDL::ChainIkSolverPos_NR_JL_Mimic:

Public Member Functions
virtual int	CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)

virtual int	CartToJntAdvanced (const JntArray &q_init, const Frame &p_in, JntArray &q_out, bool lock_redundant_joints)

	ChainIkSolverPos_NR_JL_Mimic (const Chain &chain, const JntArray &q_min, const JntArray &q_max, ChainFkSolverPos &fksolver, ChainIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6, bool position_ik=false)

bool	setMimicJoints (const std::vector< kdl_kinematics_plugin::JointMimic > &mimic_joints)

	~ChainIkSolverPos_NR_JL_Mimic ()

Public Member Functions inherited from KDL::ChainIkSolverPos
virtual void	updateInternalDataStructures ()=0

virtual	~ChainIkSolverPos ()

Public Member Functions inherited from KDL::SolverI
virtual int	getError () const

	SolverI ()

virtual const char *	strError (const int error) const

virtual	~SolverI ()

Private Member Functions
void	qMimicToq (const JntArray &q, JntArray &q_result)

void	qToqMimic (const JntArray &q, JntArray &q_result)

Private Attributes
const Chain	chain

JntArray	delta_q

Twist	delta_twist

double	eps

Frame	f

ChainFkSolverPos &	fksolver

ChainIkSolverVel &	iksolver

unsigned int	maxiter

std::vector< kdl_kinematics_plugin::JointMimic >	mimic_joints

bool	position_ik

JntArray	q_max

JntArray	q_max_mimic

JntArray	q_min

JntArray	q_min_mimic

JntArray	q_temp

Additional Inherited Members
Public Attributes inherited from KDL::SolverI
	E_DEGRADED

	E_MAX_ITERATIONS_EXCEEDED

	E_NO_CONVERGE

	E_NOERROR

	E_NOT_IMPLEMENTED

	E_NOT_UP_TO_DATE

	E_OUT_OF_RANGE

	E_SIZE_MISMATCH

	E_SVD_FAILED

	E_UNDEFINED

Protected Attributes inherited from KDL::SolverI
int	error

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::Chain. Takes joint limits into account.

Definition at line 46 of file chainiksolver_pos_nr_jl_mimic.hpp.

Constructor & Destructor Documentation

KDL::ChainIkSolverPos_NR_JL_Mimic::ChainIkSolverPos_NR_JL_Mimic	(	const Chain &	chain,
		const JntArray &	q_min,
		const JntArray &	q_max,
		ChainFkSolverPos &	fksolver,
		ChainIkSolverVel &	iksolver,
		unsigned int	maxiter = `100`,
		double	eps = `1e-6`,
		bool	position_ik = `false`
	)

Constructor of the solver, it needs the chain, a forward position kinematics solver and an inverse velocity kinematics solver for that chain.

Parameters

chain	the chain to calculate the inverse position for
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)