Base class for Inverse Kinematics (IK) solvers. More...

#include <ik_solver_base.h>

Inheritance diagram for ros_controllers_cartesian::IKSolver:

Public Member Functions
virtual int	cartToJnt (const KDL::JntArray &q_init, const KDL::Frame &goal, KDL::JntArray &q_out)=0
	Compute Inverse Kinematics. More...

	IKSolver ()

virtual bool	init (const KDL::Chain &robot_chain, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)=0
	Initialize the solver. More...

virtual	~IKSolver ()

Detailed Description

Base class for Inverse Kinematics (IK) solvers.

This base class is meant to provide an interface for custom IK implementations. The joint-based control policies in the Cartesian trajectory controller will need some form of IK solver. This allows you to implement your own (possibly more advanced) algorithm. For instance, you may wish to consider collision checking by reacting ad-hoc to objects that additional sensors perceive in your environment.

Definition at line 46 of file ik_solver_base.h.

Constructor & Destructor Documentation

◆ IKSolver()

ros_controllers_cartesian::IKSolver::IKSolver ( )

inline

Definition at line 49 of file ik_solver_base.h.

◆ ~IKSolver()

virtual ros_controllers_cartesian::IKSolver::~IKSolver ( )

inlinevirtual

Definition at line 50 of file ik_solver_base.h.

Member Function Documentation

◆ cartToJnt()

virtual int ros_controllers_cartesian::IKSolver::cartToJnt	(	const KDL::JntArray &	q_init,
		const KDL::Frame &	goal,
		KDL::JntArray &	q_out
	)

pure virtual

Compute Inverse Kinematics.

Parameters

q_init	Vector of initial joint positions
goal	Goal pose with respect to the robot base
q_out	Vector of suitable joint positions

Returns: 0 if successful. Derived classes implement specializations.

Implemented in ros_controllers_cartesian::ExampleIKSolver.

◆ init()

virtual bool ros_controllers_cartesian::IKSolver::init	(	const KDL::Chain &	robot_chain,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)