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

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

#include <treeiksolver.hpp>

Inheritance diagram for KDL::TreeIkSolverPos:
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Public Member Functions

virtual double CartToJnt (const JntArray &q_init, const Frames &p_in, JntArray &q_out)=0
 
virtual ~TreeIkSolverPos ()
 

Detailed Description

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

Definition at line 28 of file treeiksolver.hpp.

Constructor & Destructor Documentation

◆ ~TreeIkSolverPos()

virtual KDL::TreeIkSolverPos::~TreeIkSolverPos ( )
inlinevirtual

Definition at line 43 of file treeiksolver.hpp.

Member Function Documentation

◆ CartToJnt()

virtual double KDL::TreeIkSolverPos::CartToJnt ( const JntArray q_init,
const Frames 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 otherwise (>=0) remaining (weighted) distance to target

Implemented in KDL::TreeIkSolverPos_Online, and KDL::TreeIkSolverPos_NR_JL.


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


orocos_kdl
Author(s):
autogenerated on Wed Jul 1 2020 03:17:40