KDL
1.3.0
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This abstract class encapsulates the inverse position solver for a KDL::Chain. More...
#include <src/chainiksolver.hpp>
Public Types | |
enum | { E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2 } |
Public Member Functions | |
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. More... | |
virtual | ~ChainIkSolverPos () |
virtual int | getError () const |
Return the latest error. More... | |
virtual const char * | strError (const int error) const |
Return a description of the latest error. More... | |
Protected Attributes | |
int | error |
Latest error, initialized to E_NOERROR in constructor. More... | |
This abstract class encapsulates the inverse position solver for a KDL::Chain.
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inherited |
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inlinevirtual |
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pure virtual |
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
q_init | initial guess of the joint coordinates |
p_in | input cartesian coordinates |
q_out | output joint coordinates |
Implemented in KDL::ChainIkSolverPos_LMA, KDL::ChainIkSolverPos_NR, and KDL::ChainIkSolverPos_NR_JL.
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inlinevirtualinherited |
Return the latest error.
References KDL::SolverI::error.
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inlinevirtualinherited |
Return a description of the latest error.
Reimplemented in KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverVel_pinv, KDL::ChainIkSolverPos_NR, and KDL::ChainJntToJacSolver.
References KDL::SolverI::E_NO_CONVERGE, and KDL::SolverI::E_NOERROR.
Referenced by KDL::ChainJntToJacSolver::strError(), KDL::ChainIkSolverPos_NR::strError(), KDL::ChainIkSolverVel_pinv::strError(), and KDL::ChainIkSolverVel_wdls::strError().
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protectedinherited |
Latest error, initialized to E_NOERROR in constructor.
Referenced by KDL::ChainIkSolverPos_NR::CartToJnt(), KDL::ChainIkSolverVel_pinv::CartToJnt(), KDL::ChainIkSolverVel_wdls::CartToJnt(), KDL::SolverI::getError(), and KDL::ChainJntToJacSolver::JntToJac().