Public Member Functions | Private Member Functions | Static Private Member Functions | Private Attributes | Friends | List of all members
KDL::ChainIkSolverPos_TL Class Reference

#include <kdl_tl.hpp>

Public Member Functions

int CartToJnt (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist bounds=KDL::Twist::Zero())
 
 ChainIkSolverPos_TL (const Chain &chain, const JntArray &q_min, const JntArray &q_max, double maxtime=0.005, double eps=1e-3, bool random_restart=false, bool try_jl_wrap=false)
 
void setMaxtime (double t)
 
 ~ChainIkSolverPos_TL ()
 

Private Member Functions

void abort ()
 
void reset ()
 

Static Private Member Functions

static double fRand (double min, double max)
 

Private Attributes

bool aborted
 
KDL::Twist bounds
 
const Chain chain
 
JntArray delta_q
 
Twist delta_twist
 
double eps
 
Frame f
 
KDL::ChainFkSolverPos_recursive fksolver
 
double maxtime
 
JntArray q_max
 
JntArray q_min
 
bool rr
 
std::vector< KDL::BasicJointTypetypes
 
KDL::ChainIkSolverVel_pinv vik_solver
 
bool wrap
 

Friends

class TRAC_IK::TRAC_IK
 

Detailed Description

Definition at line 48 of file kdl_tl.hpp.

Constructor & Destructor Documentation

KDL::ChainIkSolverPos_TL::ChainIkSolverPos_TL ( const Chain chain,
const JntArray q_min,
const JntArray q_max,
double  maxtime = 0.005,
double  eps = 1e-3,
bool  random_restart = false,
bool  try_jl_wrap = false 
)

Definition at line 38 of file kdl_tl.cpp.

KDL::ChainIkSolverPos_TL::~ChainIkSolverPos_TL ( )

Definition at line 196 of file kdl_tl.cpp.

Member Function Documentation

void KDL::ChainIkSolverPos_TL::abort ( )
inlineprivate

Definition at line 83 of file kdl_tl.hpp.

int KDL::ChainIkSolverPos_TL::CartToJnt ( const KDL::JntArray q_init,
const KDL::Frame p_in,
KDL::JntArray q_out,
const KDL::Twist  bounds = KDL::Twist::Zero() 
)

Definition at line 68 of file kdl_tl.cpp.

static double KDL::ChainIkSolverPos_TL::fRand ( double  min,
double  max 
)
inlinestaticprivate

Definition at line 98 of file kdl_tl.hpp.

void KDL::ChainIkSolverPos_TL::reset ( )
inlineprivate

Definition at line 88 of file kdl_tl.hpp.

void KDL::ChainIkSolverPos_TL::setMaxtime ( double  t)
inline

Definition at line 59 of file kdl_tl.hpp.

Friends And Related Function Documentation

friend class TRAC_IK::TRAC_IK
friend

Definition at line 50 of file kdl_tl.hpp.

Member Data Documentation

bool KDL::ChainIkSolverPos_TL::aborted
private

Definition at line 93 of file kdl_tl.hpp.

KDL::Twist KDL::ChainIkSolverPos_TL::bounds
private

Definition at line 69 of file kdl_tl.hpp.

const Chain KDL::ChainIkSolverPos_TL::chain
private

Definition at line 65 of file kdl_tl.hpp.

JntArray KDL::ChainIkSolverPos_TL::delta_q
private

Definition at line 73 of file kdl_tl.hpp.

Twist KDL::ChainIkSolverPos_TL::delta_twist
private

Definition at line 96 of file kdl_tl.hpp.

double KDL::ChainIkSolverPos_TL::eps
private

Definition at line 76 of file kdl_tl.hpp.

Frame KDL::ChainIkSolverPos_TL::f
private

Definition at line 95 of file kdl_tl.hpp.

KDL::ChainFkSolverPos_recursive KDL::ChainIkSolverPos_TL::fksolver
private

Definition at line 72 of file kdl_tl.hpp.

double KDL::ChainIkSolverPos_TL::maxtime
private

Definition at line 74 of file kdl_tl.hpp.

JntArray KDL::ChainIkSolverPos_TL::q_max
private

Definition at line 67 of file kdl_tl.hpp.

JntArray KDL::ChainIkSolverPos_TL::q_min
private

Definition at line 66 of file kdl_tl.hpp.

bool KDL::ChainIkSolverPos_TL::rr
private

Definition at line 78 of file kdl_tl.hpp.

std::vector<KDL::BasicJointType> KDL::ChainIkSolverPos_TL::types
private

Definition at line 81 of file kdl_tl.hpp.

KDL::ChainIkSolverVel_pinv KDL::ChainIkSolverPos_TL::vik_solver
private

Definition at line 71 of file kdl_tl.hpp.

bool KDL::ChainIkSolverPos_TL::wrap
private

Definition at line 79 of file kdl_tl.hpp.


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


trac_ik_lib
Author(s): Patrick Beeson, Barrett Ames
autogenerated on Tue Apr 23 2019 02:39:13