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22 #ifndef KDL_CHAIN_IKSOLVER_HPP
23 #define KDL_CHAIN_IKSOLVER_HPP
Definition: jntarray.hpp:70
virtual ~ChainIkSolverVel()
Definition: chainiksolver.hpp:91
Definition: frameacc.hpp:192
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_init, const Frame &p_in, JntArray &q_out)=0
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
virtual int CartTojnt(const JntArray &q_init, const Frame &p_in, const JntArray &qdot_in, const Twist &a_in, JntArray &q_out, JntArray &qdotdot_out)=0
Calculate inverse position and acceleration kinematics from joint velocities and cartesian position a...
Definition: articulatedbodyinertia.cpp:28
virtual ~ChainIkSolverAcc()
Definition: chainiksolver.hpp:163
represents both translational and rotational velocities.
Definition: frames.hpp:720
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: frames.hpp:570
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...
virtual void updateInternalDataStructures()=0
Update the internal data structures.
virtual void updateInternalDataStructures()=0
Update the internal data structures.
Definition: chainiksolver.hpp:102
virtual void updateInternalDataStructures()=0
Update the internal data structures.
virtual ~ChainIkSolverPos()
Definition: chainiksolver.hpp:56
Definition: jntarrayvel.hpp:46
Solver interface supporting storage and description of the latest error.
Definition: solveri.hpp:85
Definition: framevel.hpp:204
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, const Twist &a_in, JntArray &qdot_out, JntArray &qdotdot_out)=0
Calculate inverse velocity and acceleration kinematics from joint positions and cartesian velocity an...
Definition: chainiksolver.hpp:66
Definition: chainiksolver.hpp:42
virtual int CartToJnt(const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)=0
Calculate inverse position and velocity kinematics, from cartesian position and velocity to joint pos...
Definition: jntarrayacc.hpp:50