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25 #ifndef KDLTREEIKSOLVERPOS_ONLINE_HPP
26 #define KDLTREEIKSOLVERPOS_ONLINE_HPP
65 const std::vector<std::string>& endpoints,
69 const double x_dot_trans_max,
70 const double x_dot_rot_max,
static Frame Identity()
Definition: frames.inl:695
double y() const
Definition: frames.inl:76
Vector rot
The rotational velocity of that point.
Definition: frames.hpp:723
Definition: jntarray.hpp:70
virtual double CartToJnt(const JntArray &q_in, const Frames &p_in, JntArray &q_out)
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
Definition: treeiksolverpos_online.cpp:63
Definition: treefksolver.hpp:45
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition: treeiksolver.hpp:28
void Add(const JntArray &src1, const JntArray &src2, JntArray &dest)
Function to add two joint arrays, all the arguments must have the same size: A + B = C.
Definition: jntarray.cpp:82
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
Definition: treeiksolver.hpp:54
JntArray q_max_
Definition: treeiksolverpos_online.hpp:93
void Multiply(const JntArray &src, const double &factor, JntArray &dest)
Function to multiply all the array values with a scalar factor: A*b=C.
Definition: jntarray.cpp:92
JntArray q_dot_
Definition: treeiksolverpos_online.hpp:99
Definition: articulatedbodyinertia.cpp:28
TreeIkSolverVel & iksolver_
Definition: treeiksolverpos_online.hpp:98
~TreeIkSolverPos_Online()
Definition: treeiksolverpos_online.cpp:59
represents both translational and rotational velocities.
Definition: frames.hpp:720
std::map< std::string, Twist > Twists
Definition: treeiksolver.hpp:18
double z() const
Definition: frames.inl:77
Frames frames_
Definition: treeiksolverpos_online.hpp:101
unsigned int rows() const
Returns the number of rows (size) of the array.
Definition: jntarray.cpp:72
double x_dot_trans_max_
Definition: treeiksolverpos_online.hpp:95
virtual double CartToJnt(const JntArray &q_in, const Twists &v_in, JntArray &qdot_out)=0
Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocit...
virtual int JntToCart(const JntArray &q_in, Frame &p_out, std::string segmentName)=0
Calculate forward position kinematics for a KDL::Tree, from joint coordinates to cartesian pose.
TreeIkSolverPos_Online(const double &nr_of_jnts, const std::vector< std::string > &endpoints, const JntArray &q_min, const JntArray &q_max, const JntArray &q_dot_max, const double x_dot_trans_max, const double x_dot_rot_max, TreeFkSolverPos &fksolver, TreeIkSolverVel &iksolver)
Constructor of the solver, it needs the number of joints of the tree, a list of the endpoints you are...
Definition: treeiksolverpos_online.cpp:29
JntArray q_min_
Definition: treeiksolverpos_online.hpp:92
Twist twist_
Definition: treeiksolverpos_online.hpp:100
Implementation of a general inverse position kinematics algorithm to calculate the position transform...
Definition: treeiksolverpos_online.hpp:44
Vector vel
The velocity of that point.
Definition: frames.hpp:722
static Twist Zero()
Definition: frames.inl:290
JntArray q_dot_max_
Definition: treeiksolverpos_online.hpp:94
double x_dot_rot_max_
Definition: treeiksolverpos_online.hpp:96
void enforceJointVelLimits()
Scales the class member KDL::JntArray q_dot_, if one (or more) joint velocity exceeds the maximum val...
Definition: treeiksolverpos_online.cpp:115
IMETHOD Vector diff(const Vector &p_w_a, const Vector &p_w_b, double dt=1)
determines the difference of vector b with vector a.
TreeFkSolverPos & fksolver_
Definition: treeiksolverpos_online.hpp:97
double x() const
Definition: frames.inl:75
Twists delta_twists_
Definition: treeiksolverpos_online.hpp:102
std::map< std::string, Frame > Frames
Definition: treeiksolver.hpp:20
void enforceCartVelLimits()
Scales translational and rotational velocity vectors of the class member KDL::Twist twist_,...
Definition: treeiksolverpos_online.cpp:153