KDL::ChainIkSolverPos_NR Class Reference

#include <chainiksolverpos_nr.hpp>

Inheritance diagram for KDL::ChainIkSolverPos_NR:

Public Member Functions
	ChainIkSolverPos_NR (const Chain &chain, ChainFkSolverPos &fksolver, ChainIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
	Child FK solver failed.
	~ChainIkSolverPos_NR ()
virtual int	CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)
virtual const char *	strError (const int error) const
virtual void	updateInternalDataStructures ()
Public Member Functions inherited from KDL::ChainIkSolverPos
virtual	~ChainIkSolverPos ()
Public Member Functions inherited from KDL::SolverI
	SolverI ()
	Initialize latest error to E_NOERROR.
virtual	~SolverI ()
virtual int	getError () const
	Return the latest error.

Static Public Attributes
static const int	E_IKSOLVER_FAILED = -100
static const int	E_FKSOLVERPOS_FAILED = -101
	Child IK solver vel failed.

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

Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Chain.

Constructor & Destructor Documentation

ChainIkSolverPos_NR()

KDL::ChainIkSolverPos_NR::ChainIkSolverPos_NR	(	const Chain &	chain,
		ChainFkSolverPos &	fksolver,
		ChainIkSolverVel &	iksolver,
		unsigned int	maxiter = 100,
		double	eps = 1e-6 )

Child FK solver failed.

Constructor of the solver, it needs the chain, a forward position kinematics solver and an inverse velocity kinematics solver for that chain.

Parameters

chain	the chain to calculate the inverse position for
fksolver	a forward position kinematics solver
iksolver	an inverse velocity kinematics solver
maxiter	the maximum Newton-Raphson iterations, default: 100
eps	the precision for the position, used to end the iterations, default: epsilon (defined in kdl.hpp)

Returns

~ChainIkSolverPos_NR()

KDL::ChainIkSolverPos_NR::~ChainIkSolverPos_NR

(

)

Member Function Documentation

CartToJnt()

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

virtual

Find an output joint pose q_out, given a starting joint pose q_init and a desired cartesian pose p_in

Returns

: E_NOERROR=solution converged to <eps in maxiter E_DEGRADED=solution converged to <eps in maxiter, but solution is degraded in quality (e.g. pseudo-inverse in iksolver is singular) E_IKSOLVER_FAILED=velocity solver failed E_NO_CONVERGE=solution did not converge (e.g. large displacement, low iterations)

Implements KDL::ChainIkSolverPos.

strError()

virtual const char * KDL::ChainIkSolverPos_NR::strError ( const int error ) const

virtual

Return a description of the latest error

Returns

if error is known then a description of error, otherwise "UNKNOWN ERROR"

Reimplemented from KDL::SolverI.

updateInternalDataStructures()

virtual void KDL::ChainIkSolverPos_NR::updateInternalDataStructures ( )

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::ChainIkSolverPos.

Member Data Documentation

E_FKSOLVERPOS_FAILED

const int KDL::ChainIkSolverPos_NR::E_FKSOLVERPOS_FAILED = -101

static

Child IK solver vel failed.

E_IKSOLVER_FAILED

const int KDL::ChainIkSolverPos_NR::E_IKSOLVER_FAILED = -100

static

---

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

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