treeiksolverpos_nr_jl.hpp
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00001 // Copyright  (C)  2007-2008  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 // Copyright  (C)  2008  Mikael Mayer
00003 // Copyright  (C)  2008  Julia Jesse
00004 
00005 // Version: 1.0
00006 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00007 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00008 // URL: http://www.orocos.org/kdl
00009 
00010 // This library is free software; you can redistribute it and/or
00011 // modify it under the terms of the GNU Lesser General Public
00012 // License as published by the Free Software Foundation; either
00013 // version 2.1 of the License, or (at your option) any later version.
00014 
00015 // This library is distributed in the hope that it will be useful,
00016 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00017 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00018 // Lesser General Public License for more details.
00019 
00020 // You should have received a copy of the GNU Lesser General Public
00021 // License along with this library; if not, write to the Free Software
00022 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00023 
00024 #ifndef KDLTREEIKSOLVERPOS_NR_JL_HPP
00025 #define KDLTREEIKSOLVERPOS_NR_JL_HPP
00026 
00027 #include "treeiksolver.hpp"
00028 #include "treefksolver.hpp"
00029 #include <vector>
00030 #include <string>
00031 
00032 namespace KDL {
00033 
00042 class TreeIkSolverPos_NR_JL: public TreeIkSolverPos {
00043 public:
00062     TreeIkSolverPos_NR_JL(const Tree& tree, const std::vector<std::string>& endpoints, const JntArray& q_min, const JntArray& q_max, TreeFkSolverPos& fksolver,TreeIkSolverVel& iksolver,unsigned int maxiter=100,double eps=1e-6);
00063     ~TreeIkSolverPos_NR_JL();
00064 
00065     virtual double CartToJnt(const JntArray& q_init, const Frames& p_in, JntArray& q_out);
00066 
00067 private:
00068     const Tree tree;
00069     JntArray q_min;
00070     JntArray q_max;
00071     TreeIkSolverVel& iksolver;
00072     TreeFkSolverPos& fksolver;
00073     JntArray delta_q;
00074     Frames frames;
00075     Twists delta_twists;
00076     std::vector<std::string> endpoints;
00077     
00078     unsigned int maxiter;
00079     double eps;
00080 };
00081 
00082 }
00083 
00084 #endif


orocos_kdl
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autogenerated on Mon Oct 6 2014 03:11:17