xpp::InverseKinematics Class Reference

Converts Cartesian endeffector positions into joint angles. More...

#include <inverse_kinematics.h>

List of all members.

Public Member Functions
virtual Joints	GetAllJointAngles (const EndeffectorsPos &pos_b) const =0
	Calculates the joint angles to reach a position @ pos_b.
virtual int	GetEECount () const =0
	Number of endeffectors (feet, hands) this implementation expects.
	InverseKinematics ()
virtual	~InverseKinematics ()

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Detailed Description

Converts Cartesian endeffector positions into joint angles.

This class is responsible for calculating the joint angles of a robot given an endeffector position (=inverse kinematics). Base class that every inverse dynamics class must conform with.

Definition at line 48 of file inverse_kinematics.h.

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Constructor & Destructor Documentation

xpp::InverseKinematics::InverseKinematics

(

)

virtual xpp::InverseKinematics::~InverseKinematics

(

)

[virtual]

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Member Function Documentation

virtual Joints xpp::InverseKinematics::GetAllJointAngles

(

const EndeffectorsPos &

pos_b

)

const [pure virtual]

Calculates the joint angles to reach a position @ pos_b.

Parameters:

pos_b

3D-position of the endeffector expressed in base frame.

Returns:

Joints angles of the robot.

virtual int xpp::InverseKinematics::GetEECount

(

)

const [pure virtual]

Number of endeffectors (feet, hands) this implementation expects.

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

• inverse_kinematics.h