chainiksolver.hpp

Go to the documentation of this file.

// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>

// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl

// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.

// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.

// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

#ifndef KDL_CHAIN_IKSOLVER_HPP
#define KDL_CHAIN_IKSOLVER_HPP

#include "chain.hpp"
#include "frames.hpp"
#include "framevel.hpp"
#include "frameacc.hpp"
#include "jntarray.hpp"
#include "jntarrayvel.hpp"
#include "jntarrayacc.hpp"
#include "solveri.hpp"

namespace KDL {

    class ChainIkSolverPos : public KDL::SolverI {
    public:
        virtual int CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out)=0;

        virtual ~ChainIkSolverPos(){};
        virtual void updateInternalDataStructures()=0;
    };

    class ChainIkSolverVel : public KDL::SolverI {
    public:
        virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out)=0;
        virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out)=0;

        virtual ~ChainIkSolverVel(){};
        virtual void updateInternalDataStructures()=0;
    };

    class ChainIkSolverAcc : public KDL::SolverI {
    public:
        virtual int CartToJnt(const JntArray& q_in, const JntArray& qdot_in, const Twist a_in,
                         JntArray& qdotdot_out)=0;
        virtual int CartTojnt(const JntArray& q_init, const FrameAcc& a_in,
                         JntArrayAcc& q_out)=0;

        virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, const Twist& a_in,
                         JntArray& qdot_out, JntArray& qdotdot_out)=0;
        virtual int CartTojnt(const JntArray& q_init, const Frame& p_in, const JntArray& qdot_in, const Twist& a_in,
                         JntArray& q_out, JntArray& qdotdot_out)=0;

        virtual void updateInternalDataStructures()=0;
        virtual ~ChainIkSolverAcc(){};
    };


}//end of namespace KDL

#endif