Functions
chainiksolverpos_lma_demo.cpp File Reference

Test program for inverse position kinematics. More...

#include <iostream>
#include <frames_io.hpp>
#include <models.hpp>
#include <chainiksolverpos_lma.hpp>
#include <chainfksolverpos_recursive.hpp>
#include <utilities/utility.h>
#include <boost/timer.hpp>
Include dependency graph for chainiksolverpos_lma_demo.cpp:

Go to the source code of this file.

Functions

int main (int argc, char *argv[])
 
void test_inverseposkin (KDL::Chain &chain)
 

Detailed Description

Test program for inverse position kinematics.

results with 1 million inv pos kin. #times successful 999992 #times -1 result 0 #times -2 result 5 #times -3 result 3 average number of iter 16.6437 min. nr of iter 13 max. nr of iter 500 min. difference after solving 3.86952e-12 max. difference after solving 4.79339e-05 min. trans. difference after solving 3.86952e-12 max. trans. difference after solving 4.79339e-05 min. rot. difference after solving 0 max. rot. difference after solving 0.000261335 elapsed time 199.14 estimate of average time per invposkin (ms)0.19914 estimate of longest time per invposkin (ms) 5.98245 estimate of shortest time per invposkin (ms) 0.155544

Definition in file chainiksolverpos_lma_demo.cpp.

Function Documentation

◆ main()

int main ( int  argc,
char *  argv[] 
)

Definition at line 172 of file chainiksolverpos_lma_demo.cpp.

◆ test_inverseposkin()

void test_inverseposkin ( KDL::Chain chain)

tests the inverse kinematics on the given kinematic chain for a large number of times and provides statistics on the result. provide other examples.

Definition at line 66 of file chainiksolverpos_lma_demo.cpp.



orocos_kdl
Author(s):
autogenerated on Tue Sep 22 2020 03:17:50