KDL::ChainIkSolverAcc Class Reference

This abstract class encapsulates the inverse acceleration solver for a KDL::Chain. More...

#include <chainiksolver.hpp>

Inheritance diagram for KDL::ChainIkSolverAcc:

Public Member Functions
virtual int	CartToJnt (const JntArray &q_in, const JntArray &qdot_in, const Twist a_in, JntArray &qdotdot_out)=0
virtual int	CartTojnt (const JntArray &q_init, const FrameAcc &a_in, JntArrayAcc &q_out)=0
virtual int	CartToJnt (const JntArray &q_in, const Twist &v_in, const Twist &a_in, JntArray &qdot_out, JntArray &qdotdot_out)=0
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
virtual void	updateInternalDataStructures ()=0
virtual	~ChainIkSolverAcc ()
Public Member Functions inherited from KDL::SolverI
	SolverI ()
	Initialize latest error to E_NOERROR.
virtual	~SolverI ()
virtual int	getError () const
	Return the latest error.
virtual const char *	strError (const int error) const

Additional Inherited Members
Public Types inherited from KDL::SolverI
enum	{   E_DEGRADED = +1 , E_NOERROR = 0 , E_NO_CONVERGE = -1 , E_UNDEFINED = -2 ,   E_NOT_UP_TO_DATE = -3 , E_SIZE_MISMATCH = -4 , E_MAX_ITERATIONS_EXCEEDED = -5 , E_OUT_OF_RANGE = -6 ,   E_NOT_IMPLEMENTED = -7 , E_SVD_FAILED = -8 }
Protected Attributes inherited from KDL::SolverI
int	error
	Latest error, initialized to E_NOERROR in constructor.

Detailed Description

This abstract class encapsulates the inverse acceleration solver for a KDL::Chain.

Constructor & Destructor Documentation

~ChainIkSolverAcc()

virtual KDL::ChainIkSolverAcc::~ChainIkSolverAcc ( )

inlinevirtual

Member Function Documentation

CartToJnt() [1/2]

virtual int KDL::ChainIkSolverAcc::CartToJnt ( const JntArray & q_in, const JntArray & qdot_in, const Twist a_in, JntArray & qdotdot_out )

pure virtual

Calculate inverse acceleration kinematics from joint positions, joint velocities and cartesian acceleration to joint accelerations.

Parameters

q_in	input joint positions
qdot_in	input joint velocities
a_in	input cartesian acceleration
qdotdot_out	output joint accelerations

Returns

if < 0 something went wrong

CartToJnt() [2/2]

virtual int KDL::ChainIkSolverAcc::CartToJnt ( const JntArray & q_in, const Twist & v_in, const Twist & a_in, JntArray & qdot_out, JntArray & qdotdot_out )

pure virtual

Calculate inverse velocity and acceleration kinematics from joint positions and cartesian velocity and acceleration to joint velocities and accelerations.

Parameters

q_in	input joint positions
v_in	input cartesian velocity
a_in	input cartesian acceleration
qdot_out	output joint velocities
qdotdot_out	output joint accelerations

Returns

if < 0 something went wrong

CartTojnt() [1/2]

virtual int KDL::ChainIkSolverAcc::CartTojnt ( const JntArray & q_init, const Frame & p_in, const JntArray & qdot_in, const Twist & a_in, JntArray & q_out, JntArray & qdotdot_out )

pure virtual

Calculate inverse position and acceleration kinematics from joint velocities and cartesian position and acceleration to joint positions and accelerations

Parameters

q_init	initial guess for joint positions
p_in	input cartesian position
qdot_in	input joint velocities
a_in	input cartesian acceleration
q_out	output joint positions
qdotdot_out	output joint accelerations

Returns

if < 0 something went wrong

CartTojnt() [2/2]

virtual int KDL::ChainIkSolverAcc::CartTojnt ( const JntArray & q_init, const FrameAcc & a_in, JntArrayAcc & q_out )

pure virtual

Calculate inverse position, velocity and acceration kinematics from cartesian coordinates to joint coordinates

Parameters

q_init	initial guess for joint positions
a_in	input cartesian position, velocity and acceleration
q_out	output joint position, velocity and acceleration

Returns

if < 0 something went wrong

updateInternalDataStructures()

virtual void KDL::ChainIkSolverAcc::updateInternalDataStructures ( )

pure virtual

Update the internal data structures. This is required if the number of segments or number of joints of a chain/tree have changed. This provides a single point of contact for solver memory allocations.

Implements KDL::SolverI.

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The documentation for this class was generated from the following file:

• build/orocos_kdl_install/include/kdl/chainiksolver.hpp