treeiksolverpos_nr_jl.hpp
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1 // Copyright (C) 2007-2008 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 // Copyright (C) 2008 Mikael Mayer
3 // Copyright (C) 2008 Julia Jesse
4 
5 // Version: 1.0
6 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
7 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
8 // URL: http://www.orocos.org/kdl
9 
10 // This library is free software; you can redistribute it and/or
11 // modify it under the terms of the GNU Lesser General Public
12 // License as published by the Free Software Foundation; either
13 // version 2.1 of the License, or (at your option) any later version.
14 
15 // This library is distributed in the hope that it will be useful,
16 // but WITHOUT ANY WARRANTY; without even the implied warranty of
17 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
18 // Lesser General Public License for more details.
19 
20 // You should have received a copy of the GNU Lesser General Public
21 // License along with this library; if not, write to the Free Software
22 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
23 
24 #ifndef KDLTREEIKSOLVERPOS_NR_JL_HPP
25 #define KDLTREEIKSOLVERPOS_NR_JL_HPP
26 
27 #include "treeiksolver.hpp"
28 #include "treefksolver.hpp"
29 #include <vector>
30 #include <string>
31 
32 namespace KDL {
33 
43 public:
62  TreeIkSolverPos_NR_JL(const Tree& tree, const std::vector<std::string>& endpoints, const JntArray& q_min, const JntArray& q_max, TreeFkSolverPos& fksolver,TreeIkSolverVel& iksolver,unsigned int maxiter=100,double eps=1e-6);
64 
65  virtual double CartToJnt(const JntArray& q_init, const Frames& p_in, JntArray& q_out);
66 
67 private:
68  const Tree tree;
76  std::vector<std::string> endpoints;
77 
78  unsigned int maxiter;
79  double eps;
80 };
81 
82 }
83 
84 #endif
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree...
TreeIkSolverPos_NR_JL(const Tree &tree, const std::vector< std::string > &endpoints, const JntArray &q_min, const JntArray &q_max, TreeFkSolverPos &fksolver, TreeIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
std::vector< std::string > endpoints
virtual double CartToJnt(const JntArray &q_init, const Frames &p_in, JntArray &q_out)
std::map< std::string, Frame > Frames
This abstract class encapsulates the inverse position solver for a KDL::Chain.
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
std::map< std::string, Twist > Twists
This class encapsulates a tree kinematic interconnection structure. It is built out of segments...
Definition: tree.hpp:99


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autogenerated on Tue Sep 1 2020 03:18:51