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22 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP
23 #define KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP
virtual void updateInternalDataStructures()
const JntArray & getWeights() const
virtual int CartToJnt(const JntArray &, const FrameVel &, JntArrayVel &)
virtual int setAlpha(const double alpha)
@ E_NOT_IMPLEMENTED
Not yet implemented.
ChainIkSolverVel_pinv_nso(const Chain &chain, const JntArray &opt_pos, const JntArray &weights, double eps=0.00001, int maxiter=150, double alpha=0.25)
virtual int setOptPos(const JntArray &opt_pos)
represents both translational and rotational velocities.
const JntArray & getOptPos() const
~ChainIkSolverVel_pinv_nso()
const double & getAlpha() const
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
ChainJntToJacSolver jnt2jac
This class encapsulates a serial kinematic interconnection structure. It is built out of segments.
virtual int setWeights(const JntArray &weights)
int error
Latest error, initialized to E_NOERROR in constructor.