#include <chainiksolverpos_nr_jl.hpp>

Inheritance diagram for KDL::ChainIkSolverPos_NR_JL:

Public Member Functions
virtual int	CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)

	ChainIkSolverPos_NR_JL (const Chain &chain, const JntArray &q_min, const JntArray &q_max, ChainFkSolverPos &fksolver, ChainIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
	Child FK solver failed. More...

	ChainIkSolverPos_NR_JL (const Chain &chain, ChainFkSolverPos &fksolver, ChainIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)

int	setJointLimits (const JntArray &q_min, const JntArray &q_max)

const char *	strError (const int error) const

virtual void	updateInternalDataStructures ()

	~ChainIkSolverPos_NR_JL ()

Public Member Functions inherited from KDL::ChainIkSolverPos
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	~SolverI ()

Static Public Attributes
static const int	E_FKSOLVERPOS_FAILED = -101
	Child IK solver vel failed. More...

static const int	E_IKSOLVERVEL_FAILED = -100

Private Attributes
const Chain &	chain

JntArray	delta_q

Twist	delta_twist

double	eps

Frame	f

ChainFkSolverPos &	fksolver

ChainIkSolverVel &	iksolver

unsigned int	maxiter

unsigned int	nj

JntArray	q_max

JntArray	q_min

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

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. Takes joint limits into account.

Definition at line 40 of file chainiksolverpos_nr_jl.hpp.

Constructor & Destructor Documentation

KDL::ChainIkSolverPos_NR_JL::ChainIkSolverPos_NR_JL	(	const Chain &	chain,
		const JntArray &	q_min,
		const JntArray &	q_max,
		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.

Parameters

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

Returns

Definition at line 30 of file chainiksolverpos_nr_jl.cpp.

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

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
fksolver	a forward position kinematics solver
iksolver	an inverse velocity kinematics solver
maxiter	the maximum Newton-Raphson iterations, default: 100
eps	the precision for the position, used to end the iterations, default: epsilon (defined in kdl.hpp)

Returns

Definition at line 41 of file chainiksolverpos_nr_jl.cpp.

KDL::ChainIkSolverPos_NR_JL::~ChainIkSolverPos_NR_JL ( )

Definition at line 111 of file chainiksolverpos_nr_jl.cpp.

Member Function Documentation

int KDL::ChainIkSolverPos_NR_JL::CartToJnt	(	const JntArray &	q_init,
		const Frame &	p_in,
		JntArray &	q_out
	)

virtual

Calculates the joint values that correspond to the input pose given an initial guess.

Parameters

q_init	Initial guess for the joint values.
p_in	The input pose of the chain tip.
q_out	The resulting output joint values

Returns: E_MAX_ITERATIONS_EXCEEDED if the maximum number of iterations was exceeded before a result was found E_NOT_UP_TO_DATE if the internal data is not up to date with the chain E_SIZE_MISMATCH if the size of the input/output data does not match the chain.

Implements KDL::ChainIkSolverPos.

Definition at line 62 of file chainiksolverpos_nr_jl.cpp.

int KDL::ChainIkSolverPos_NR_JL::setJointLimits	(	const JntArray &	q_min,
		const JntArray &	q_max
	)

Function to set the joint limits.

Parameters

q_min	minimum values for the joints
q_max	maximum values for the joints

Returns: E_SIZE_MISMATCH if input sizes do not match the chain

Definition at line 103 of file chainiksolverpos_nr_jl.cpp.

const char * KDL::ChainIkSolverPos_NR_JL::strError ( const int error ) const

virtual

Return a description of the latest error

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

Reimplemented from KDL::SolverI.

Definition at line 115 of file chainiksolverpos_nr_jl.cpp.

void KDL::ChainIkSolverPos_NR_JL::updateInternalDataStructures ( )

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::ChainIkSolverPos.

Definition at line 53 of file chainiksolverpos_nr_jl.cpp.