chainiksolverpos_nr.hpp
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1 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 
3 // Version: 1.0
4 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // URL: http://www.orocos.org/kdl
7 
8 // This library is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU Lesser General Public
10 // License as published by the Free Software Foundation; either
11 // version 2.1 of the License, or (at your option) any later version.
12 
13 // This library is distributed in the hope that it will be useful,
14 // but WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // Lesser General Public License for more details.
17 
18 // You should have received a copy of the GNU Lesser General Public
19 // License along with this library; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21 
22 #ifndef KDLCHAINIKSOLVERPOS_NR_HPP
23 #define KDLCHAINIKSOLVERPOS_NR_HPP
24 
25 #include "chainiksolver.hpp"
26 #include "chainfksolver.hpp"
27 
28 namespace KDL {
29 
39  {
40  public:
41  static const int E_IKSOLVER_FAILED = -100;
42  static const int E_FKSOLVERPOS_FAILED = -101;
43 
60  unsigned int maxiter=100,double eps=1e-6);
62 
74  virtual int CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out);
75 
77  virtual const char* strError(const int error) const;
78 
80  virtual void updateInternalDataStructures();
81  private:
82  const Chain& chain;
83 
84  unsigned int nj;
90 
91  unsigned int maxiter;
92  double eps;
93  };
94 
95 }
96 
97 #endif
This abstract class encapsulates the inverse position solver for a KDL::Chain.
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
Definition: chain.hpp:35
virtual int CartToJnt(const JntArray &q_init, const Frame &p_in, JntArray &q_out)
virtual const char * strError(const int error) const
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
represents both translational and rotational velocities.
Definition: frames.hpp:720
ChainIkSolverPos_NR(const Chain &chain, ChainFkSolverPos &fksolver, ChainIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
Child FK solver failed.
static const int E_FKSOLVERPOS_FAILED
Child IK solver vel failed.
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
static const int E_IKSOLVER_FAILED
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:149
virtual void updateInternalDataStructures()
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain...


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autogenerated on Wed Oct 28 2020 03:16:19