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27 unsigned int _maxiter,
double _eps):
28 chain(_chain),nj (chain.getNrOfJoints()),
29 iksolver(_iksolver),fksolver(_fksolver),
30 delta_q(_chain.getNrOfJoints()),
31 maxiter(_maxiter),eps(_eps)
ChainIkSolverPos_NR(const Chain &chain, ChainFkSolverPos &fksolver, ChainIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
Child FK solver failed.
virtual const char * strError(const int error) const
ChainFkSolverPos & fksolver
void resize(unsigned int newSize)
void Add(const JntArray &src1, const JntArray &src2, JntArray &dest)
@ E_NOT_UP_TO_DATE
Chain size changed.
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain.
virtual const char * strError(const int error) const
virtual int JntToCart(const JntArray &q_in, Frame &p_out, int segmentNr=-1)=0
static const int E_FKSOLVERPOS_FAILED
Child IK solver vel failed.
@ E_MAX_ITERATIONS_EXCEEDED
Maximum number of iterations exceeded.
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)=0
unsigned int rows() const
virtual int CartToJnt(const JntArray &q_init, const Frame &p_in, JntArray &q_out)
@ E_SIZE_MISMATCH
Input size does not match internal state.
@ E_DEGRADED
Converged but degraded solution (e.g. WDLS with psuedo-inverse singular)
ChainIkSolverVel & iksolver
represents a frame transformation in 3D space (rotation + translation)
virtual void updateInternalDataStructures()=0
virtual void updateInternalDataStructures()=0
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
IMETHOD Vector diff(const Vector &p_w_a, const Vector &p_w_b, double dt=1)
virtual void updateInternalDataStructures()
This class encapsulates a serial kinematic interconnection structure. It is built out of segments.
static const int E_IKSOLVER_FAILED
unsigned int getNrOfJoints() const
int error
Latest error, initialized to E_NOERROR in constructor.