Public Member Functions
KDL::ChainIkSolverPos Class Reference

This abstract class encapsulates the inverse position solver for a KDL::Chain. More...

#include <chainiksolver.hpp>

Inheritance diagram for KDL::ChainIkSolverPos:
Inheritance graph
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List of all members.

Public Member Functions

virtual int CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)=0
virtual ~ChainIkSolverPos ()

Detailed Description

This abstract class encapsulates the inverse position solver for a KDL::Chain.

Definition at line 42 of file chainiksolver.hpp.


Constructor & Destructor Documentation

virtual KDL::ChainIkSolverPos::~ChainIkSolverPos ( ) [inline, virtual]

Definition at line 56 of file chainiksolver.hpp.


Member Function Documentation

virtual int KDL::ChainIkSolverPos::CartToJnt ( const JntArray q_init,
const Frame p_in,
JntArray q_out 
) [pure virtual]

Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.

Parameters:
q_initinitial guess of the joint coordinates
p_ininput cartesian coordinates
q_outoutput joint coordinates
Returns:
if < 0 something went wrong

Implemented in KDL::ChainIkSolverPos_LMA, KDL::ChainIkSolverPos_NR_JL, and KDL::ChainIkSolverPos_NR.


The documentation for this class was generated from the following file:


orocos_kdl
Author(s):
autogenerated on Wed Oct 18 2017 02:59:41