Public Member Functions | List of all members
KDL::ChainIkSolverAcc Class Referenceabstract

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

#include <chainiksolver.hpp>

Inheritance diagram for KDL::ChainIkSolverAcc:
Inheritance graph
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Public Member Functions

virtual int CartToJnt (const JntArray &q_in, const JntArray &qdot_in, const Twist a_in, JntArray &qdotdot_out)=0
 
virtual int CartTojnt (const JntArray &q_init, const FrameAcc &a_in, JntArrayAcc &q_out)=0
 
virtual int CartToJnt (const JntArray &q_in, const Twist &v_in, const Twist &a_in, JntArray &qdot_out, JntArray &qdotdot_out)=0
 
virtual int CartTojnt (const JntArray &q_init, const Frame &p_in, const JntArray &qdot_in, const Twist &a_in, JntArray &q_out, JntArray &qdotdot_out)=0
 
virtual void updateInternalDataStructures ()=0
 
virtual ~ChainIkSolverAcc ()
 
- Public Member Functions inherited from KDL::SolverI
virtual int getError () const
 Return the latest error. More...
 
 SolverI ()
 Initialize latest error to E_NOERROR. More...
 
virtual const char * strError (const int error) const
 
virtual ~SolverI ()
 

Additional Inherited Members

- Public Types inherited from KDL::SolverI
enum  {
  E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2,
  E_NOT_UP_TO_DATE = -3, E_SIZE_MISMATCH = -4, E_MAX_ITERATIONS_EXCEEDED = -5, E_OUT_OF_RANGE = -6,
  E_NOT_IMPLEMENTED = -7, E_SVD_FAILED = -8
}
 
- Protected Attributes inherited from KDL::SolverI
int error
 Latest error, initialized to E_NOERROR in constructor. More...
 

Detailed Description

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

Definition at line 102 of file chainiksolver.hpp.

Constructor & Destructor Documentation

virtual KDL::ChainIkSolverAcc::~ChainIkSolverAcc ( )
inlinevirtual

Definition at line 163 of file chainiksolver.hpp.

Member Function Documentation

virtual int KDL::ChainIkSolverAcc::CartToJnt ( const JntArray q_in,
const JntArray qdot_in,
const Twist  a_in,
JntArray qdotdot_out 
)
pure virtual

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

Parameters
q_ininput joint positions
qdot_ininput joint velocities
a_ininput cartesian acceleration
qdotdot_outoutput joint accelerations
Returns
if < 0 something went wrong
virtual int KDL::ChainIkSolverAcc::CartTojnt ( const JntArray q_init,
const FrameAcc a_in,
JntArrayAcc q_out 
)
pure virtual

Calculate inverse position, velocity and acceration kinematics from cartesian coordinates to joint coordinates

Parameters
q_initinitial guess for joint positions
a_ininput cartesian position, velocity and acceleration
q_outoutput joint position, velocity and acceleration
Returns
if < 0 something went wrong
virtual int KDL::ChainIkSolverAcc::CartToJnt ( const JntArray q_in,
const Twist v_in,
const Twist a_in,
JntArray qdot_out,
JntArray qdotdot_out 
)
pure virtual

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

Parameters
q_ininput joint positions
v_ininput cartesian velocity
a_ininput cartesian acceleration
qdot_outoutput joint velocities
qdotdot_outoutput joint accelerations
Returns
if < 0 something went wrong
virtual int KDL::ChainIkSolverAcc::CartTojnt ( const JntArray q_init,
const Frame p_in,
const JntArray qdot_in,
const Twist a_in,
JntArray q_out,
JntArray qdotdot_out 
)
pure virtual

Calculate inverse position and acceleration kinematics from joint velocities and cartesian position and acceleration to joint positions and accelerations

Parameters
q_initinitial guess for joint positions
p_ininput cartesian position
qdot_ininput joint velocities
a_ininput cartesian acceleration
q_outoutput joint positions
qdotdot_outoutput joint accelerations
Returns
if < 0 something went wrong
virtual void KDL::ChainIkSolverAcc::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.


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


orocos_kdl
Author(s):
autogenerated on Fri Jun 14 2019 19:15:39