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

#include <chainiksolver.hpp>

Inheritance diagram for KDL::ChainIkSolverPos:

[legend]

Public Member Functions
virtual int	CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)=0

virtual void	updateInternalDataStructures ()=0

virtual	~ChainIkSolverPos ()

Public Member Functions inherited from KDL::SolverI
virtual int	getError () const
	Return the latest error. More...

	SolverI ()
	Initialize latest error to E_NOERROR. More...

virtual const char *	strError (const int error) const

virtual	~SolverI ()

Additional Inherited Members
Public Types inherited from KDL::SolverI
enum	{ E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2, E_NOT_UP_TO_DATE = -3, E_SIZE_MISMATCH = -4, E_MAX_ITERATIONS_EXCEEDED = -5, E_OUT_OF_RANGE = -6, E_NOT_IMPLEMENTED = -7, E_SVD_FAILED = -8 }

Protected Attributes inherited from KDL::SolverI
int	error
	Latest error, initialized to E_NOERROR in constructor. More...

Detailed Description

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

Definition at line 42 of file chainiksolver.hpp.

Constructor & Destructor Documentation

◆ ~ChainIkSolverPos()

virtual KDL::ChainIkSolverPos::~ChainIkSolverPos ( )

inlinevirtual

Definition at line 56 of file chainiksolver.hpp.

Member Function Documentation

◆ CartToJnt()

virtual int KDL::ChainIkSolverPos::CartToJnt	(	const JntArray &	q_init,
		const Frame &	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

Implemented in KDL::ChainIkSolverPos_LMA, KDL::ChainIkSolverPos_NR_JL, and KDL::ChainIkSolverPos_NR.

◆ updateInternalDataStructures()

virtual void KDL::ChainIkSolverPos::updateInternalDataStructures ( )

pure virtual

Update the internal data structures. This is required if the number of segments or number of joints of a chain/tree have changed. This provides a single point of contact for solver memory allocations.

Implements KDL::SolverI.