Public Member Functions
KDL::ChainIkSolverVel Class Reference

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

#include <chainiksolver.hpp>

Inheritance diagram for KDL::ChainIkSolverVel:
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List of all members.

Public Member Functions

virtual int CartToJnt (const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)=0
virtual int CartToJnt (const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)=0
virtual void updateInternalDataStructures ()=0
virtual ~ChainIkSolverVel ()

Detailed Description

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

Definition at line 66 of file chainiksolver.hpp.


Constructor & Destructor Documentation

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

Definition at line 91 of file chainiksolver.hpp.


Member Function Documentation

virtual int KDL::ChainIkSolverVel::CartToJnt ( const JntArray q_in,
const Twist v_in,
JntArray qdot_out 
) [pure virtual]

Calculate inverse velocity kinematics, from joint positions and cartesian velocity to joint velocities.

Parameters:
q_ininput joint positions
v_ininput cartesian velocity
qdot_outoutput joint velocities
Returns:
if < 0 something went wrong

Implemented in KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverVel_pinv, KDL::ChainIkSolverVel_pinv_nso, and KDL::ChainIkSolverVel_pinv_givens.

virtual int KDL::ChainIkSolverVel::CartToJnt ( const JntArray q_init,
const FrameVel v_in,
JntArrayVel q_out 
) [pure virtual]

Calculate inverse position and velocity kinematics, from cartesian position and velocity to joint positions and velocities.

Parameters:
q_initinitial joint positions
v_ininput cartesian position and velocity
q_outoutput joint position and velocity
Returns:
if < 0 something went wrong

Implemented in KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverVel_pinv, KDL::ChainIkSolverVel_pinv_nso, and KDL::ChainIkSolverVel_pinv_givens.

virtual void KDL::ChainIkSolverVel::updateInternalDataStructures ( ) [pure virtual]

Update the internal data structures. This is required if the number of segments or number of joints of a chain/tree have changed. This provides a single point of contact for solver memory allocations.

Implements KDL::SolverI.

Implemented in KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverVel_pinv_nso, KDL::ChainIkSolverVel_pinv, and KDL::ChainIkSolverVel_pinv_givens.


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


orocos_kdl
Author(s):
autogenerated on Wed Mar 6 2019 03:36:13