This abstract class encapsulates the inverse acceleration solver for a KDL::Chain.
More...
#include <chainiksolver.hpp>
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virtual int | CartToJnt (const JntArray &q_in, const JntArray &qdot_in, const Twist a_in, JntArray &qdotdot_out)=0 |
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virtual int | CartToJnt (const JntArray &q_in, const Twist &v_in, const Twist &a_in, JntArray &qdot_out, JntArray &qdotdot_out)=0 |
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virtual int | CartTojnt (const JntArray &q_init, const Frame &p_in, const JntArray &qdot_in, const Twist &a_in, JntArray &q_out, JntArray &qdotdot_out)=0 |
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virtual int | CartTojnt (const JntArray &q_init, const FrameAcc &a_in, JntArrayAcc &q_out)=0 |
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virtual void | updateInternalDataStructures ()=0 |
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virtual | ~ChainIkSolverAcc () |
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virtual int | getError () const |
| Return the latest error. More...
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| SolverI () |
| Initialize latest error to E_NOERROR. More...
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virtual const char * | strError (const int error) const |
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virtual | ~SolverI () |
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enum | {
E_DEGRADED = +1,
E_NOERROR = 0,
E_NO_CONVERGE = -1,
E_UNDEFINED = -2,
E_NOT_UP_TO_DATE = -3,
E_SIZE_MISMATCH = -4,
E_MAX_ITERATIONS_EXCEEDED = -5,
E_OUT_OF_RANGE = -6,
E_NOT_IMPLEMENTED = -7,
E_SVD_FAILED = -8
} |
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int | error |
| Latest error, initialized to E_NOERROR in constructor. More...
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This abstract class encapsulates the inverse acceleration solver for a KDL::Chain.
Definition at line 102 of file chainiksolver.hpp.
◆ ~ChainIkSolverAcc()
virtual KDL::ChainIkSolverAcc::~ChainIkSolverAcc |
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inlinevirtual |
◆ CartToJnt() [1/2]
Calculate inverse acceleration kinematics from joint positions, joint velocities and cartesian acceleration to joint accelerations.
- Parameters
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q_in | input joint positions |
qdot_in | input joint velocities |
a_in | input cartesian acceleration |
qdotdot_out | output joint accelerations |
- Returns
- if < 0 something went wrong
◆ CartToJnt() [2/2]
Calculate inverse velocity and acceleration kinematics from joint positions and cartesian velocity and acceleration to joint velocities and accelerations.
- Parameters
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q_in | input joint positions |
v_in | input cartesian velocity |
a_in | input cartesian acceleration |
qdot_out | output joint velocities |
qdotdot_out | output joint accelerations |
- Returns
- if < 0 something went wrong
◆ CartTojnt() [1/2]
Calculate inverse position and acceleration kinematics from joint velocities and cartesian position and acceleration to joint positions and accelerations
- Parameters
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q_init | initial guess for joint positions |
p_in | input cartesian position |
qdot_in | input joint velocities |
a_in | input cartesian acceleration |
q_out | output joint positions |
qdotdot_out | output joint accelerations |
- Returns
- if < 0 something went wrong
◆ CartTojnt() [2/2]
Calculate inverse position, velocity and acceration kinematics from cartesian coordinates to joint coordinates
- Parameters
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q_init | initial guess for joint positions |
a_in | input cartesian position, velocity and acceleration |
q_out | output joint position, velocity and acceleration |
- Returns
- if < 0 something went wrong
◆ updateInternalDataStructures()
virtual void KDL::ChainIkSolverAcc::updateInternalDataStructures |
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pure virtual |
Update the internal data structures. This is required if the number of segments or number of joints of a chain/tree have changed. This provides a single point of contact for solver memory allocations.
Implements KDL::SolverI.
The documentation for this class was generated from the following file: