#include <chainiksolver_pos_lma_jl_mimic.h>

Inheritance diagram for KDL::ChainIkSolverPos_LMA_JL_Mimic:

Public Member Functions
virtual int	CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)
virtual int	CartToJntAdvanced (const JntArray &q_init, const Frame &p_in, JntArray &q_out, bool lock_redundant_joints)
	ChainIkSolverPos_LMA_JL_Mimic (const Chain &chain, const JntArray &q_min, const JntArray &q_max, ChainFkSolverPos &fksolver, ChainIkSolverPos_LMA &iksolver, unsigned int maxiter=100, double eps=1e-6, bool position_ik=false)
bool	setMimicJoints (const std::vector< lma_kinematics_plugin::JointMimic > &mimic_joints)
	~ChainIkSolverPos_LMA_JL_Mimic ()
Private Member Functions
void	harmonize (JntArray &q_out)
bool	obeysLimits (const KDL::JntArray &q_out)
void	qMimicToq (const JntArray &q, JntArray &q_result)
void	qToqMimic (const JntArray &q, JntArray &q_result)
Private Attributes
const Chain	chain
JntArray	delta_q
Twist	delta_twist
double	eps
Frame	f
ChainFkSolverPos &	fksolver
ChainIkSolverPos_LMA &	iksolver
unsigned int	maxiter
std::vector < lma_kinematics_plugin::JointMimic >	mimic_joints
bool	position_ik
JntArray	q_max
JntArray	q_max_mimic
JntArray	q_min
JntArray	q_min_mimic
JntArray	q_temp

Detailed Description

Implementation of a general inverse position kinematics algorithm based on Levenberg-Marquardt method to calculate the position transformation from Cartesian to joint space of a general KDL::Chain. Takes joint limits into account.

Definition at line 55 of file chainiksolver_pos_lma_jl_mimic.h.

Constructor & Destructor Documentation

KDL::ChainIkSolverPos_LMA_JL_Mimic::ChainIkSolverPos_LMA_JL_Mimic	(	const Chain &	chain,
		const JntArray &	q_min,
		const JntArray &	q_max,
		ChainFkSolverPos &	fksolver,
		ChainIkSolverPos_LMA &	iksolver,
		unsigned int	maxiter = `100`,
		double	eps = `1e-6`,
		bool	position_ik = `false`
	)

Constructor of the solver, it needs the chain, a forward position kinematics solver and an inverse velocity kinematics solver for that chain.

Parameters:

chain	the chain to calculate the inverse position for
q_max	the maximum joint positions
q_min	the minimum joint positions
fksolver	a forward position kinematics solver
iksolver	an inverse velocity kinematics solver
maxiter	the maximum Levenberg-Marquardt iterations, default: 100
eps	the precision for the position, used to end the iterations, default: epsilon (defined in kdl.hpp)

Returns:

Definition at line 42 of file chainiksolver_pos_lma_jl_mimic.cpp.

KDL::ChainIkSolverPos_LMA_JL_Mimic::~ChainIkSolverPos_LMA_JL_Mimic ( )

Definition at line 166 of file chainiksolver_pos_lma_jl_mimic.cpp.

Member Function Documentation

int KDL::ChainIkSolverPos_LMA_JL_Mimic::CartToJnt	(	const JntArray &	q_init,
		const Frame &	p_in,
		JntArray &	q_out
	)		`[virtual]`

Implements KDL::ChainIkSolverPos.

Definition at line 119 of file chainiksolver_pos_lma_jl_mimic.cpp.

int KDL::ChainIkSolverPos_LMA_JL_Mimic::CartToJntAdvanced	(	const JntArray &	q_init,
		const Frame &	p_in,
		JntArray &	q_out,
		bool	lock_redundant_joints
	)		`[virtual]`