A wrapper around KDL's Levenberg Marquardt solver. More...

#include <ik_solver_example.h>

Inheritance diagram for ros_controllers_cartesian::ExampleIKSolver:

Public Member Functions
virtual int	cartToJnt (const KDL::JntArray &q_init, const KDL::Frame &goal, KDL::JntArray &q_out) override
	Compute Inverse Kinematics with KDL's Levenberg Marquardt solver. More...

	ExampleIKSolver ()

bool	init (const KDL::Chain &robot_chain, ros::NodeHandle &, ros::NodeHandle &) override
	Initialize the solver. More...

	~ExampleIKSolver ()

Public Member Functions inherited from ros_controllers_cartesian::IKSolver
	IKSolver ()

virtual	~IKSolver ()

Private Attributes
std::unique_ptr< KDL::ChainIkSolverPos_LMA >	lma_solver_

KDL::Chain	robot_chain_

Detailed Description

A wrapper around KDL's Levenberg Marquardt solver.

This is the default Inverse Kinematics (IK) solver for the cartesian_trajectory_controller.

You may explicitly specify this solver with "example_solver" as ik_solver in the controllers.yaml configuration file:

<name_of_your_controller>:
    type: "position_controllers/CartesianTrajectoryController"
    ik_solver: "example_solver"
    ...

Definition at line 42 of file ik_solver_example.h.

Constructor & Destructor Documentation

◆ ExampleIKSolver()

ros_controllers_cartesian::ExampleIKSolver::ExampleIKSolver ( )

inline

Definition at line 45 of file ik_solver_example.h.

◆ ~ExampleIKSolver()

ros_controllers_cartesian::ExampleIKSolver::~ExampleIKSolver ( )

inline

Definition at line 46 of file ik_solver_example.h.

Member Function Documentation

◆ cartToJnt()

virtual int ros_controllers_cartesian::ExampleIKSolver::cartToJnt	(	const KDL::JntArray &	q_init,
		const KDL::Frame &	goal,
		KDL::JntArray &	q_out
	)

inlineoverridevirtual

Compute Inverse Kinematics with KDL's Levenberg Marquardt solver.

Implements ros_controllers_cartesian::IKSolver.

Definition at line 65 of file ik_solver_example.h.

◆ init()

bool ros_controllers_cartesian::ExampleIKSolver::init	(	const KDL::Chain &	robot_chain,
		ros::NodeHandle &	,
		ros::NodeHandle &
	)

inlineoverridevirtual

Initialize the solver.

Only the kinematics chain is used.

Implements ros_controllers_cartesian::IKSolver.

Definition at line 54 of file ik_solver_example.h.

Member Data Documentation

◆ lma_solver_

std::unique_ptr<KDL::ChainIkSolverPos_LMA> ros_controllers_cartesian::ExampleIKSolver::lma_solver_

private

Definition at line 68 of file ik_solver_example.h.

◆ robot_chain_

KDL::Chain ros_controllers_cartesian::ExampleIKSolver::robot_chain_