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22 #ifndef KDL_CHAIN_IKSOLVER_HPP
23 #define KDL_CHAIN_IKSOLVER_HPP
virtual ~ChainIkSolverVel()
virtual int CartTojnt(const JntArray &q_init, const FrameAcc &a_in, JntArrayAcc &q_out)=0
virtual int CartToJnt(const JntArray &q_init, const Frame &p_in, JntArray &q_out)=0
virtual ~ChainIkSolverAcc()
represents both translational and rotational velocities.
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)=0
represents a frame transformation in 3D space (rotation + translation)
virtual int CartToJnt(const JntArray &q_in, const JntArray &qdot_in, const Twist a_in, JntArray &qdotdot_out)=0
virtual void updateInternalDataStructures()=0
virtual void updateInternalDataStructures()=0
This abstract class encapsulates the inverse acceleration solver for a KDL::Chain.
virtual void updateInternalDataStructures()=0
virtual ~ChainIkSolverPos()
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
This abstract class encapsulates the inverse position solver for a KDL::Chain.