treeiksolverpos_online.hpp
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1 // Copyright (C) 2011 PAL Robotics S.L. All rights reserved.
2 // Copyright (C) 2007-2008 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
3 // Copyright (C) 2008 Mikael Mayer
4 // Copyright (C) 2008 Julia Jesse
5 
6 // Version: 1.0
7 // Author: Marcus Liebhardt
8 // This class has been derived from the KDL::TreeIkSolverPos_NR_JL class
9 // by Julia Jesse, Mikael Mayer and Ruben Smits
10 
11 // This library is free software; you can redistribute it and/or
12 // modify it under the terms of the GNU Lesser General Public
13 // License as published by the Free Software Foundation; either
14 // version 2.1 of the License, or (at your option) any later version.
15 
16 // This library is distributed in the hope that it will be useful,
17 // but WITHOUT ANY WARRANTY; without even the implied warranty of
18 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
19 // Lesser General Public License for more details.
20 
21 // You should have received a copy of the GNU Lesser General Public
22 // License along with this library; if not, write to the Free Software
23 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
24 
25 #ifndef KDLTREEIKSOLVERPOS_ONLINE_HPP
26 #define KDLTREEIKSOLVERPOS_ONLINE_HPP
27 
28 #include <vector>
29 #include <string>
30 #include "treeiksolver.hpp"
31 #include "treefksolver.hpp"
32 
33 namespace KDL {
34 
45 public:
64  TreeIkSolverPos_Online(const double& nr_of_jnts,
65  const std::vector<std::string>& endpoints,
66  const JntArray& q_min,
67  const JntArray& q_max,
68  const JntArray& q_dot_max,
69  const double x_dot_trans_max,
70  const double x_dot_rot_max,
71  TreeFkSolverPos& fksolver,
72  TreeIkSolverVel& iksolver);
73 
75 
76  virtual double CartToJnt(const JntArray& q_in, const Frames& p_in, JntArray& q_out);
77 
78 private:
83  void enforceJointVelLimits();
84 
90  void enforceCartVelLimits();
91 
103 };
104 
105 } // namespace
106 
107 #endif /* KDLTREEIKSOLVERPOS_ONLINE_HPP */
108 
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree...
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
TreeIkSolverPos_Online(const double &nr_of_jnts, const std::vector< std::string > &endpoints, const JntArray &q_min, const JntArray &q_max, const JntArray &q_dot_max, const double x_dot_trans_max, const double x_dot_rot_max, TreeFkSolverPos &fksolver, TreeIkSolverVel &iksolver)
represents both translational and rotational velocities.
Definition: frames.hpp:720
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.
virtual double CartToJnt(const JntArray &q_in, const Frames &p_in, JntArray &q_out)
std::map< std::string, Twist > Twists


orocos_kdl
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autogenerated on Tue Sep 1 2020 03:18:51