KDL::TreeIkSolverPos Class Reference

This abstract class encapsulates the inverse position solver for a KDL::Chain. More...

#include <treeiksolver.hpp>

Inheritance diagram for KDL::TreeIkSolverPos:

Public Member Functions
virtual double	CartToJnt (const JntArray &q_init, const Frames &p_in, JntArray &q_out)=0
virtual	~TreeIkSolverPos ()

Detailed Description

This abstract class encapsulates the inverse position solver for a KDL::Chain.

Definition at line 28 of file treeiksolver.hpp.

Constructor & Destructor Documentation

virtual KDL::TreeIkSolverPos::~TreeIkSolverPos ( )

inlinevirtual

Definition at line 43 of file treeiksolver.hpp.

Member Function Documentation

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

pure 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

Implemented in KDL::TreeIkSolverPos_Online, and KDL::TreeIkSolverPos_NR_JL.

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

• treeiksolver.hpp