#include <treeiksolverpos_online.hpp>

Inheritance diagram for KDL::TreeIkSolverPos_Online:

Public Member Functions
	TreeIkSolverPos_Online (const double &nr_of_jnts, const std::vector< std::string > &endpoints, const JntArray &q_min, const JntArray &q_max, const JntArray &q_dot_max, const double x_dot_trans_max, const double x_dot_rot_max, TreeFkSolverPos &fksolver, TreeIkSolverVel &iksolver)
	~TreeIkSolverPos_Online ()
virtual double	CartToJnt (const JntArray &q_in, 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 to calculate the position transformation from Cartesian to joint space of a general KDL::Tree. This class has been derived from the TreeIkSolverPos_NR_JL class, but was modified for online solving for use in realtime systems. Thus, the calculation is only done once, meaning that no iteration is done, because this solver is intended to run at a high frequency. It enforces velocity limits in task as well as in joint space. It also takes joint limits into account.

Constructor & Destructor Documentation

◆ TreeIkSolverPos_Online()

KDL::TreeIkSolverPos_Online::TreeIkSolverPos_Online	(	const double &	nr_of_jnts,
		const std::vector< std::string > &	endpoints,
		const JntArray &	q_min,
		const JntArray &	q_max,
		const JntArray &	q_dot_max,
		const double	x_dot_trans_max,
		const double	x_dot_rot_max,
		TreeFkSolverPos &	fksolver,
		TreeIkSolverVel &	iksolver )

Constructor of the solver, it needs the number of joints of the tree, a list of the endpoints you are interested in, the maximum and minimum values you want to enforce and a forward position kinematics solver as well as an inverse velocity kinematics solver for the calculations

Parameters

nr_of_jnts	number of joints of the tree to calculate the joint positions for
endpoints	the list of endpoints you are interested in
q_min	the minimum joint positions
q_max	the maximum joint positions
q_dot_max	the maximum joint velocities
x_dot_trans_max	the maximum translational velocity of your endpoints
x_dot_rot_max	the maximum rotational velocity of your endpoints
fksolver	a forward position kinematics solver
iksolver	an inverse velocity kinematics solver

Returns

◆ ~TreeIkSolverPos_Online()

KDL::TreeIkSolverPos_Online::~TreeIkSolverPos_Online ( )

Member Function Documentation

◆ CartToJnt()

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

virtual

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