Class NLOPT_IK

Defined in File nlopt_ik.hpp

Class Documentation

class NLOPT_IK

Public Functions

NLOPT_IK(rclcpp::Node::SharedPtr nh, const KDL::Chain &chain, const KDL::JntArray &q_min, const KDL::JntArray &q_max, double maxtime = 0.005, double eps = 1e-3, OptType type = SumSq)

inline ~NLOPT_IK()

int CartToJnt(const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist bounds = KDL::Twist::Zero(), const KDL::JntArray &q_desired = KDL::JntArray())

double minJoints(const std::vector<double> &x, std::vector<double> &grad)

void cartSumSquaredError(const std::vector<double> &x, double error[])

void cartDQError(const std::vector<double> &x, double error[])

void cartL2NormError(const std::vector<double> &x, double error[])

inline void setMaxtime(double t)

Friends

friend class TRAC_IK::TRAC_IK