Public Member Functions | Static Public Attributes | Private Attributes
KDL::ChainIkSolverPos_NR Class Reference

#include <chainiksolverpos_nr.hpp>

Inheritance diagram for KDL::ChainIkSolverPos_NR:
Inheritance graph

List of all members.

Public Member Functions

virtual int CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)
 ChainIkSolverPos_NR (const Chain &chain, ChainFkSolverPos &fksolver, ChainIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
 Child FK solver failed.
virtual const char * strError (const int error) const
 ~ChainIkSolverPos_NR ()

Static Public Attributes

static const int E_FKSOLVERPOS_FAILED = -101
 Child IK solver vel failed.
static const int E_IKSOLVER_FAILED = -100

Private Attributes

const Chain chain
JntArray delta_q
Twist delta_twist
double eps
Frame f
unsigned int maxiter
unsigned int nj

Detailed Description

Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Chain.

Definition at line 38 of file chainiksolverpos_nr.hpp.

Constructor & Destructor Documentation

KDL::ChainIkSolverPos_NR::ChainIkSolverPos_NR ( const Chain chain,
ChainFkSolverPos fksolver,
ChainIkSolverVel iksolver,
unsigned int  maxiter = 100,
double  eps = 1e-6 

Child FK solver failed.

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

chainthe chain to calculate the inverse position for
fksolvera forward position kinematics solver
iksolveran inverse velocity kinematics solver
maxiterthe maximum Newton-Raphson iterations, default: 100
epsthe precision for the position, used to end the iterations, default: epsilon (defined in kdl.hpp)

Definition at line 26 of file chainiksolverpos_nr.cpp.

Definition at line 60 of file chainiksolverpos_nr.cpp.

Member Function Documentation

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

Find an output joint pose q_out, given a starting joint pose q_init and a desired cartesian pose p_in

: E_NOERROR=solution converged to <eps in maxiter E_DEGRADED=solution converged to <eps in maxiter, but solution is degraded in quality (e.g. pseudo-inverse in iksolver is singular) E_IKSOLVER_FAILED=velocity solver failed E_NO_CONVERGE=solution did not converge (e.g. large displacement, low iterations)

Implements KDL::ChainIkSolverPos.

Definition at line 35 of file chainiksolverpos_nr.cpp.

const char * KDL::ChainIkSolverPos_NR::strError ( const int  error) const [virtual]

Return a description of the latest error

if error is known then a description of error, otherwise "UNKNOWN ERROR"

Reimplemented from KDL::SolverI.

Definition at line 64 of file chainiksolverpos_nr.cpp.

Member Data Documentation

Definition at line 80 of file chainiksolverpos_nr.hpp.

Definition at line 84 of file chainiksolverpos_nr.hpp.

Definition at line 86 of file chainiksolverpos_nr.hpp.

Child IK solver vel failed.

Definition at line 42 of file chainiksolverpos_nr.hpp.

Definition at line 41 of file chainiksolverpos_nr.hpp.

Definition at line 89 of file chainiksolverpos_nr.hpp.

Definition at line 85 of file chainiksolverpos_nr.hpp.

Definition at line 83 of file chainiksolverpos_nr.hpp.

Definition at line 82 of file chainiksolverpos_nr.hpp.

unsigned int KDL::ChainIkSolverPos_NR::maxiter [private]

Definition at line 88 of file chainiksolverpos_nr.hpp.

unsigned int KDL::ChainIkSolverPos_NR::nj [private]

Definition at line 81 of file chainiksolverpos_nr.hpp.

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

autogenerated on Sat Oct 7 2017 03:04:29