KDL::ChainIkSolverVel Class Reference

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

#include <chainiksolver.hpp>

Inheritance diagram for KDL::ChainIkSolverVel:

Public Member Functions
virtual int	CartToJnt (const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)=0
virtual int	CartToJnt (const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)=0
virtual	~ChainIkSolverVel ()
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 velocity solver for a KDL::Chain.

Constructor & Destructor Documentation

~ChainIkSolverVel()

virtual KDL::ChainIkSolverVel::~ChainIkSolverVel ( )

inlinevirtual

Member Function Documentation

CartToJnt() [1/2]

virtual int KDL::ChainIkSolverVel::CartToJnt ( const JntArray & q_in, const Twist & v_in, JntArray & qdot_out )

pure virtual

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

Parameters

q_in	input joint positions
v_in	input cartesian velocity
qdot_out	output joint velocities

Returns

if < 0 something went wrong

Implemented in KDL::ChainIkSolverVel_pinv, KDL::ChainIkSolverVel_pinv_givens, KDL::ChainIkSolverVel_pinv_nso, and KDL::ChainIkSolverVel_wdls.

CartToJnt() [2/2]

virtual int KDL::ChainIkSolverVel::CartToJnt ( const JntArray & q_init, const FrameVel & v_in, JntArrayVel & q_out )

pure virtual

Calculate inverse position and velocity kinematics, from cartesian position and velocity to joint positions and velocities.

Parameters

q_init	initial joint positions
v_in	input cartesian position and velocity
q_out	output joint position and velocity

Returns

if < 0 something went wrong

Implemented in KDL::ChainIkSolverVel_pinv, KDL::ChainIkSolverVel_pinv_givens, KDL::ChainIkSolverVel_pinv_nso, and KDL::ChainIkSolverVel_wdls.

updateInternalDataStructures()

virtual void KDL::ChainIkSolverVel::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.

Implemented in KDL::ChainIkSolverVel_pinv, KDL::ChainIkSolverVel_pinv_givens, KDL::ChainIkSolverVel_pinv_nso, and KDL::ChainIkSolverVel_wdls.

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

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