Go to the documentation of this file.
24 #ifndef KDLTREEIKSOLVERPOS_NR_JL_HPP
25 #define KDLTREEIKSOLVERPOS_NR_JL_HPP
static Frame Identity()
Definition: frames.inl:695
JntArray q_max
Definition: treeiksolverpos_nr_jl.hpp:70
Definition: jntarray.hpp:70
JntArray delta_q
Definition: treeiksolverpos_nr_jl.hpp:73
Twists delta_twists
Definition: treeiksolverpos_nr_jl.hpp:75
Definition: treefksolver.hpp:45
TreeFkSolverPos & fksolver
Definition: treeiksolverpos_nr_jl.hpp:72
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition: treeiksolver.hpp:28
unsigned int maxiter
Definition: treeiksolverpos_nr_jl.hpp:78
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
Definition: articulatedbodyinertia.cpp:28
std::map< std::string, Twist > Twists
Definition: treeiksolver.hpp:18
Frames frames
Definition: treeiksolverpos_nr_jl.hpp:74
unsigned int rows() const
Returns the number of rows (size) of the array.
Definition: jntarray.cpp:72
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.
This class encapsulates a tree kinematic interconnection structure.
Definition: tree.hpp:100
static Twist Zero()
Definition: frames.inl:290
TreeIkSolverPos_NR_JL(const Tree &tree, const std::vector< std::string > &endpoints, const JntArray &q_min, const JntArray &q_max, TreeFkSolverPos &fksolver, TreeIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
Constructor of the solver, it needs the tree, a forward position kinematics solver and an inverse vel...
Definition: treeiksolverpos_nr_jl.cpp:27
virtual double CartToJnt(const JntArray &q_init, const Frames &p_in, JntArray &q_out)
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
Definition: treeiksolverpos_nr_jl.cpp:42
std::vector< std::string > endpoints
Definition: treeiksolverpos_nr_jl.hpp:76
Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations ...
Definition: treeiksolverpos_nr_jl.hpp:42
const Tree tree
Definition: treeiksolverpos_nr_jl.hpp:68
double eps
Definition: treeiksolverpos_nr_jl.hpp:79
TreeIkSolverVel & iksolver
Definition: treeiksolverpos_nr_jl.hpp:71
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.
std::map< std::string, Frame > Frames
Definition: treeiksolver.hpp:20
~TreeIkSolverPos_NR_JL()
Definition: treeiksolverpos_nr_jl.cpp:79
JntArray q_min
Definition: treeiksolverpos_nr_jl.hpp:69