#include <treeiksolverpos_nr_jl.hpp>

Inheritance diagram for KDL::TreeIkSolverPos_NR_JL:

Public Member Functions
	TreeIkSolverPos_NR_JL (const Tree &tree, const std::vector< std::string > &endpoints, const JntArray &q_min, const JntArray &q_max, TreeFkSolverPos &fksolver, TreeIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
	~TreeIkSolverPos_NR_JL ()
virtual double	CartToJnt (const JntArray &q_init, const Frames &p_in, JntArray &q_out)
Public Member Functions inherited from KDL::TreeIkSolverPos
virtual	~TreeIkSolverPos ()

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::Tree. Takes joint limits into account.

Constructor & Destructor Documentation

◆ TreeIkSolverPos_NR_JL()

KDL::TreeIkSolverPos_NR_JL::TreeIkSolverPos_NR_JL	(	const Tree &	tree,
		const std::vector< std::string > &	endpoints,
		const JntArray &	q_min,
		const JntArray &	q_max,
		TreeFkSolverPos &	fksolver,
		TreeIkSolverVel &	iksolver,
		unsigned int	maxiter = 100,
		double	eps = 1e-6 )

Constructor of the solver, it needs the tree, a forward position kinematics solver and an inverse velocity kinematics solver for that tree, and a list of the segments you are interested in.

Parameters

tree	the tree to calculate the inverse position for
endpoints	the list of endpoints you are interested in.
q_max	the maximum joint positions
q_min	the minimum joint positions
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

◆ ~TreeIkSolverPos_NR_JL()

KDL::TreeIkSolverPos_NR_JL::~TreeIkSolverPos_NR_JL ( )

Member Function Documentation

◆ CartToJnt()

virtual double KDL::TreeIkSolverPos_NR_JL::CartToJnt	(	const JntArray &	q_init,
		const Frames &	p_in,
		JntArray &	q_out )

virtual

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