22 #ifndef KDLCHAINIKSOLVERPOS_NR_HPP 23 #define KDLCHAINIKSOLVERPOS_NR_HPP This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition: chainiksolver.hpp:42
Frame f
Definition: chainiksolverpos_nr.hpp:83
JntArray delta_q
Definition: chainiksolverpos_nr.hpp:82
~ChainIkSolverPos_NR()
Definition: chainiksolverpos_nr.cpp:54
This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
ChainFkSolverPos & fksolver
Definition: chainiksolverpos_nr.hpp:81
virtual int CartToJnt(const JntArray &q_init, const Frame &p_in, JntArray &q_out)
Find an output joint pose q_out, given a starting joint pose q_init and a desired cartesian pose p_in...
Definition: chainiksolverpos_nr.cpp:33
virtual const char * strError(const int error) const
Return a description of the latest error.
Definition: chainiksolverpos_nr.cpp:58
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
unsigned int maxiter
Definition: chainiksolverpos_nr.hpp:86
represents both translational and rotational velocities.
Definition: frames.hpp:720
Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations ...
Definition: chainiksolverpos_nr.hpp:38
ChainIkSolverVel & iksolver
Definition: chainiksolverpos_nr.hpp:80
Definition: articulatedbodyinertia.cpp:28
ChainIkSolverPos_NR(const Chain &chain, ChainFkSolverPos &fksolver, ChainIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
Child IK solver failed.
Definition: chainiksolverpos_nr.cpp:26
const Chain chain
Definition: chainiksolverpos_nr.hpp:79
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
static const int E_IKSOLVER_FAILED
Definition: chainiksolverpos_nr.hpp:41
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:122
double eps
Definition: chainiksolverpos_nr.hpp:87
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
Definition: chainiksolver.hpp:65
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain...
Definition: chainfksolver.hpp:43
Twist delta_twist
Definition: chainiksolverpos_nr.hpp:84