This abstract class encapsulates the inverse position solver for a KDL::Chain. More...
#include <treeiksolver.hpp>
Inheritance diagram for KDL::TreeIkSolverPos:
Public Member Functions | |
| virtual double | CartToJnt (const JntArray &q_init, const Frames &p_in, JntArray &q_out)=0 |
| virtual | ~TreeIkSolverPos () |
Detailed Description
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition at line 27 of file treeiksolver.hpp.
Constructor & Destructor Documentation
| virtual KDL::TreeIkSolverPos::~TreeIkSolverPos | ( | ) | [inline, virtual] |
Definition at line 42 of file treeiksolver.hpp.
Member Function Documentation
| virtual double KDL::TreeIkSolverPos::CartToJnt | ( | const JntArray & | q_init, |
| const Frames & | 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 otherwise (>=0) remaining (weighted) distance to target
Implemented in KDL::TreeIkSolverPos_Online, and KDL::TreeIkSolverPos_NR_JL.
The documentation for this class was generated from the following file: