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

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

#include <chainiksolver.hpp>

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

virtual int CartToJnt (const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)=0
 
virtual int CartToJnt (const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)=0
 
virtual void updateInternalDataStructures ()=0
 
virtual ~ChainIkSolverVel ()
 
- 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 velocity solver for a KDL::Chain.

Definition at line 66 of file chainiksolver.hpp.

Constructor & Destructor Documentation

virtual KDL::ChainIkSolverVel::~ChainIkSolverVel ( )
inlinevirtual

Definition at line 91 of file chainiksolver.hpp.

Member Function Documentation

virtual int KDL::ChainIkSolverVel::CartToJnt ( const JntArray q_in,
const Twist v_in,
JntArray qdot_out 
)
pure virtual

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

Parameters
q_ininput joint positions
v_ininput cartesian velocity
qdot_outoutput joint velocities
Returns
if < 0 something went wrong

Implemented in KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverVel_pinv, KDL::ChainIkSolverVel_pinv_nso, and KDL::ChainIkSolverVel_pinv_givens.

virtual int KDL::ChainIkSolverVel::CartToJnt ( const JntArray q_init,
const FrameVel v_in,
JntArrayVel q_out 
)
pure virtual

Calculate inverse position and velocity kinematics, from cartesian position and velocity to joint positions and velocities.

Parameters
q_initinitial joint positions
v_ininput cartesian position and velocity
q_outoutput joint position and velocity
Returns
if < 0 something went wrong

Implemented in KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverVel_pinv, KDL::ChainIkSolverVel_pinv_nso, and KDL::ChainIkSolverVel_pinv_givens.

virtual void KDL::ChainIkSolverVel::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::ChainIkSolverVel_wdls, KDL::ChainIkSolverVel_pinv_nso, KDL::ChainIkSolverVel_pinv, and KDL::ChainIkSolverVel_pinv_givens.


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


orocos_kdl
Author(s):
autogenerated on Wed Mar 6 2019 03:07:25