Class NLOPT_IK

Class Documentation

class NLOPT_IK

Public Functions

NLOPT_IK(rclcpp::Node::SharedPtr _nh, const KDL::Chain &_chain, const KDL::JntArray &_q_min, const KDL::JntArray &_q_max, double _maxtime = 0.005, double _eps = 1e-3, OptType type = SumSq)
NLOPT_IK(const KDL::Chain &_chain, const KDL::JntArray &_q_min, const KDL::JntArray &_q_max, double _maxtime = 0.005, double _eps = 1e-3, OptType _type = SumSq, const rclcpp::Logger &_logger = rclcpp::get_logger("trac_ik.trac_ik_lib"))
inline ~NLOPT_IK()
int CartToJnt(const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist bounds = KDL::Twist::Zero(), const KDL::JntArray &q_desired = KDL::JntArray())
double minJoints(const std::vector<double> &x, std::vector<double> &grad)
void cartSumSquaredError(const std::vector<double> &x, double error[])
void cartDQError(const std::vector<double> &x, double error[])
void cartL2NormError(const std::vector<double> &x, double error[])
inline void setMaxtime(double t)

Friends

friend class TRAC_IK::TRAC_IK