treeiksolver.hpp
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1 /*
2  * treeiksolver.hpp
3  *
4  * Created on: Nov 28, 2008
5  * Author: rubensmits
6  */
7 
8 #ifndef TREEIKSOLVER_HPP_
9 #define TREEIKSOLVER_HPP_
10 
11 #include "tree.hpp"
12 #include "jntarray.hpp"
13 #include "frames.hpp"
14 #include <map>
15 
16 namespace KDL {
17 
18 typedef std::map<std::string, Twist> Twists;
19 typedef std::map<std::string, Jacobian> Jacobians;
20 typedef std::map<std::string, Frame> Frames;
21 
29 public:
41  virtual double CartToJnt(const JntArray& q_init, const Frames& p_in,JntArray& q_out)=0;
42 
43  virtual ~TreeIkSolverPos() {
44  }
45  ;
46 };
47 
55 public:
67  virtual double CartToJnt(const JntArray& q_in, const Twists& v_in, JntArray& qdot_out)=0;
68 
69  virtual ~TreeIkSolverVel() {
70  }
71  ;
72 
73 };
74 
75 }
76 
77 #endif /* TREEIKSOLVER_HPP_ */
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
std::map< std::string, Jacobian > Jacobians
std::map< std::string, Frame > Frames
This abstract class encapsulates the inverse position solver for a KDL::Chain.
virtual ~TreeIkSolverPos()
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
virtual ~TreeIkSolverVel()
std::map< std::string, Twist > Twists
virtual double CartToJnt(const JntArray &q_init, const Frames &p_in, JntArray &q_out)=0


orocos_kdl
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autogenerated on Wed Jul 1 2020 03:17:39