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

#include <chainiksolver.hpp>

Inheritance diagram for KDL::ChainIkSolverPos:

Public Member Functions
virtual int	CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)=0
virtual	~ChainIkSolverPos ()
virtual void	updateInternalDataStructures ()=0
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 position solver for a KDL::Chain.

Constructor & Destructor Documentation

◆ ~ChainIkSolverPos()

virtual KDL::ChainIkSolverPos::~ChainIkSolverPos ( )

inlinevirtual

Member Function Documentation

◆ CartToJnt()

virtual int KDL::ChainIkSolverPos::CartToJnt	(	const JntArray &	q_init,
		const Frame &	p_in,
		JntArray &	q_out )

pure virtual

Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.

Parameters

q_init	initial guess of the joint coordinates
p_in	input cartesian coordinates
q_out	output joint coordinates

Returns: if < 0 something went wrong

Implemented in KDL::ChainIkSolverPos_LMA, KDL::ChainIkSolverPos_NR, and KDL::ChainIkSolverPos_NR_JL.

◆ updateInternalDataStructures()

virtual void KDL::ChainIkSolverPos::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.