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

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

#include <chainiksolver.hpp>

Inheritance diagram for KDL::ChainIkSolverPos:
Inheritance graph
[legend]

Public Member Functions

virtual int CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)=0
 
virtual void updateInternalDataStructures ()=0
 
virtual ~ChainIkSolverPos ()
 
- 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 position solver for a KDL::Chain.

Definition at line 42 of file chainiksolver.hpp.

Constructor & Destructor Documentation

virtual KDL::ChainIkSolverPos::~ChainIkSolverPos ( )
inlinevirtual

Definition at line 56 of file chainiksolver.hpp.

Member Function Documentation

virtual int KDL::ChainIkSolverPos::CartToJnt ( const JntArray q_init,
const Frame p_in,
JntArray q_out 
)
pure virtual

Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.

Parameters
q_initinitial guess of the joint coordinates
p_ininput cartesian coordinates
q_outoutput joint coordinates
Returns
if < 0 something went wrong

Implemented in KDL::ChainIkSolverPos_LMA, KDL::ChainIkSolverPos_NR_JL, and KDL::ChainIkSolverPos_NR.

virtual void KDL::ChainIkSolverPos::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::ChainIkSolverPos_LMA, KDL::ChainIkSolverPos_NR_JL, and KDL::ChainIkSolverPos_NR.


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


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