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

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

#include <treeiksolver.hpp>

Inheritance diagram for KDL::TreeIkSolverVel:
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Public Member Functions

virtual double CartToJnt (const JntArray &q_in, const Twists &v_in, JntArray &qdot_out)=0
 
virtual ~TreeIkSolverVel ()
 

Detailed Description

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

Definition at line 54 of file treeiksolver.hpp.

Constructor & Destructor Documentation

◆ ~TreeIkSolverVel()

virtual KDL::TreeIkSolverVel::~TreeIkSolverVel ( )
inlinevirtual

Definition at line 69 of file treeiksolver.hpp.

Member Function Documentation

◆ CartToJnt()

virtual double KDL::TreeIkSolverVel::CartToJnt ( const JntArray q_in,
const Twists v_in,
JntArray qdot_out 
)
pure virtual

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

Parameters
q_ininput joint positions
v_ininput cartesian velocity
qdot_outoutput joint velocities
Returns
if < 0 something went wrong distance to goal otherwise (weighted norm of v_in)

Implemented in KDL::TreeIkSolverVel_wdls.


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


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