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24 #ifndef KDLCHAINIKSOLVERPOS_NR_JL_HPP
25 #define KDLCHAINIKSOLVERPOS_NR_JL_HPP
static const int E_FKSOLVERPOS_FAILED
Child IK solver vel failed.
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain.
static const int E_IKSOLVERVEL_FAILED
represents both translational and rotational velocities.
ChainIkSolverPos_NR_JL(const Chain &chain, const JntArray &q_min, const JntArray &q_max, ChainFkSolverPos &fksolver, ChainIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
Child FK solver failed.
represents a frame transformation in 3D space (rotation + translation)
int setJointLimits(const JntArray &q_min, const JntArray &q_max)
virtual void updateInternalDataStructures()
~ChainIkSolverPos_NR_JL()
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
const char * strError(const int error) const
virtual int CartToJnt(const JntArray &q_init, const Frame &p_in, JntArray &q_out)
This abstract class encapsulates the inverse position solver for a KDL::Chain.
ChainFkSolverPos & fksolver
This class encapsulates a serial kinematic interconnection structure. It is built out of segments.
ChainIkSolverVel & iksolver
int error
Latest error, initialized to E_NOERROR in constructor.