22 #ifndef KDL_CHAIN_IKSOLVER_HPP
23 #define KDL_CHAIN_IKSOLVER_HPP
54 virtual int CartToJnt(
const JntArray& q_init,
const Frame& p_in, JntArray& q_out)=0;
77 virtual int CartToJnt(
const JntArray& q_in,
const Twist& v_in, JntArray& qdot_out)=0;
114 virtual int CartToJnt(
const JntArray& q_in,
const JntArray& qdot_in,
const Twist a_in,
115 JntArray& qdotdot_out)=0;
143 JntArray& qdot_out, JntArray& qdotdot_out)=0;
158 virtual int CartTojnt(
const JntArray& q_init,
const Frame& p_in,
const JntArray& qdot_in,
const Twist& a_in,
159 JntArray& q_out, JntArray& qdotdot_out)=0;
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition: chainiksolver.hpp:42
virtual int CartToJnt(const JntArray &q_init, const Frame &p_in, JntArray &q_out)=0
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
Solver interface supporting storage and description of the latest error.
Definition: solveri.hpp:84
virtual ~ChainIkSolverAcc()
Definition: chainiksolver.hpp:161
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)=0
Calculate inverse velocity kinematics, from joint positions and cartesian velocity to joint velocitie...
Definition: frameacc.hpp:165
represents both translational and rotational velocities.
Definition: frames.hpp:720
virtual int CartTojnt(const JntArray &q_init, const FrameAcc &a_in, JntArrayAcc &q_out)=0
Calculate inverse position, velocity and acceration kinematics from cartesian coordinates to joint co...
virtual int CartToJnt(const JntArray &q_in, const JntArray &qdot_in, const Twist a_in, JntArray &qdotdot_out)=0
Calculate inverse acceleration kinematics from joint positions, joint velocities and cartesian accele...
Definition: articulatedbodyinertia.cpp:28
Definition: jntarrayvel.hpp:36
virtual ~ChainIkSolverPos()
Definition: chainiksolver.hpp:56
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
This abstract class encapsulates the inverse acceleration solver for a KDL::Chain.
Definition: chainiksolver.hpp:101
Definition: framevel.hpp:197
Definition: jntarrayacc.hpp:36
virtual ~ChainIkSolverVel()
Definition: chainiksolver.hpp:90
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
Definition: chainiksolver.hpp:65