This abstract class encapsulates the inverse velocity solver for a KDL::Chain. More...
#include <chainiksolver.hpp>
Public Member Functions | |
| 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 void | updateInternalDataStructures ()=0 |
| virtual | ~ChainIkSolverVel () |
 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 velocity solver for a KDL::Chain.
Definition at line 66 of file chainiksolver.hpp.
Constructor & Destructor Documentation
◆ ~ChainIkSolverVel()
|
inlinevirtual |
Definition at line 91 of file chainiksolver.hpp.
Member Function Documentation
◆ CartToJnt() [1/2]
|
pure virtual |
Calculate inverse velocity kinematics, from joint positions and cartesian velocity to joint velocities.
- Parameters
-
q_in input joint positions v_in input cartesian velocity qdot_out output joint velocities
- Returns
- if < 0 something went wrong
Implemented in KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverVel_pinv, KDL::ChainIkSolverVel_pinv_nso, and KDL::ChainIkSolverVel_pinv_givens.
◆ CartToJnt() [2/2]
|
pure virtual |
Calculate inverse position and velocity kinematics, from cartesian position and velocity to joint positions and velocities.
- Parameters
-
q_init initial joint positions v_in input cartesian position and velocity q_out output joint position and velocity
- Returns
- if < 0 something went wrong
Implemented in KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverVel_pinv, KDL::ChainIkSolverVel_pinv_nso, and KDL::ChainIkSolverVel_pinv_givens.
◆ 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.
Implemented in KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverVel_pinv_nso, KDL::ChainIkSolverVel_pinv, and KDL::ChainIkSolverVel_pinv_givens.
The documentation for this class was generated from the following file: