This abstract class encapsulates the inverse velocity solver for a KDL::Tree. More...
#include <treeiksolver.hpp>
Inheritance diagram for KDL::TreeIkSolverVel:
Public Member Functions | |
| virtual double | CartToJnt (const JntArray &q_in, const Twists &v_in, JntArray &qdot_out)=0 |
| virtual | ~TreeIkSolverVel () |
Detailed Description
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
Definition at line 54 of file treeiksolver.hpp.
Constructor & Destructor Documentation
◆ ~TreeIkSolverVel()
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inlinevirtual |
Definition at line 69 of file treeiksolver.hpp.
Member Function Documentation
◆ CartToJnt()
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pure virtual |
Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocities.
- Parameters
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q_in input joint positions v_in input cartesian velocity qdot_out output joint velocities
- Returns
- if < 0 something went wrong distance to goal otherwise (weighted norm of v_in)
Implemented in KDL::TreeIkSolverVel_wdls.
The documentation for this class was generated from the following file: