KDL::ChainIkSolverPos_NR Class Reference

#include <chainiksolverpos_nr.hpp>

Inheritance diagram for KDL::ChainIkSolverPos_NR:

Public Member Functions
virtual int	CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)
	ChainIkSolverPos_NR (const Chain &chain, ChainFkSolverPos &fksolver, ChainIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
	Child FK solver failed. More...
virtual const char *	strError (const int error) const
virtual void	updateInternalDataStructures ()
	~ChainIkSolverPos_NR ()
Public Member Functions inherited from KDL::ChainIkSolverPos
virtual	~ChainIkSolverPos ()
Public Member Functions inherited from KDL::SolverI
virtual int	getError () const
	Return the latest error. More...
	SolverI ()
	Initialize latest error to E_NOERROR. More...
virtual	~SolverI ()

Static Public Attributes
static const int	E_FKSOLVERPOS_FAILED = -101
	Child IK solver vel failed. More...
static const int	E_IKSOLVER_FAILED = -100

Private Attributes
const Chain &	chain
JntArray	delta_q
Twist	delta_twist
double	eps
Frame	f
ChainFkSolverPos &	fksolver
ChainIkSolverVel &	iksolver
unsigned int	maxiter
unsigned int	nj

Additional Inherited Members
Public Types inherited from KDL::SolverI
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 }
Protected Attributes inherited from KDL::SolverI
int	error
	Latest error, initialized to E_NOERROR in constructor. More...

Detailed Description

Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Chain.

Definition at line 38 of file chainiksolverpos_nr.hpp.

Constructor & Destructor Documentation

ChainIkSolverPos_NR()

KDL::ChainIkSolverPos_NR::ChainIkSolverPos_NR	(	const Chain &	chain,
		ChainFkSolverPos &	fksolver,
		ChainIkSolverVel &	iksolver,
		unsigned int	maxiter = 100,
		double	eps = 1e-6
	)

Child FK solver failed.

Constructor of the solver, it needs the chain, a forward position kinematics solver and an inverse velocity kinematics solver for that chain.

Parameters

chain	the chain to calculate the inverse position for
fksolver	a forward position kinematics solver
iksolver	an inverse velocity kinematics solver
maxiter	the maximum Newton-Raphson iterations, default: 100
eps	the precision for the position, used to end the iterations, default: epsilon (defined in kdl.hpp)

Returns

Definition at line 26 of file chainiksolverpos_nr.cpp.

~ChainIkSolverPos_NR()

KDL::ChainIkSolverPos_NR::~ChainIkSolverPos_NR

(

)

Definition at line 70 of file chainiksolverpos_nr.cpp.

Member Function Documentation

CartToJnt()

int KDL::ChainIkSolverPos_NR::CartToJnt ( const JntArray &  q_init, const Frame &  p_in, JntArray &  q_out  )

virtual

Find an output joint pose q_out, given a starting joint pose q_init and a desired cartesian pose p_in

Returns

: E_NOERROR=solution converged to <eps in maxiter E_DEGRADED=solution converged to <eps in maxiter, but solution is degraded in quality (e.g. pseudo-inverse in iksolver is singular) E_IKSOLVER_FAILED=velocity solver failed E_NO_CONVERGE=solution did not converge (e.g. large displacement, low iterations)

Implements KDL::ChainIkSolverPos.

Definition at line 42 of file chainiksolverpos_nr.cpp.

strError()

const char * KDL::ChainIkSolverPos_NR::strError ( const int  error ) const

virtual

Return a description of the latest error

Returns

if error is known then a description of error, otherwise "UNKNOWN ERROR"

Reimplemented from KDL::SolverI.

Definition at line 74 of file chainiksolverpos_nr.cpp.

updateInternalDataStructures()

void KDL::ChainIkSolverPos_NR::updateInternalDataStructures ( )

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::ChainIkSolverPos.

Definition at line 35 of file chainiksolverpos_nr.cpp.

Member Data Documentation

chain

const Chain& KDL::ChainIkSolverPos_NR::chain

private

Definition at line 82 of file chainiksolverpos_nr.hpp.

delta_q

JntArray KDL::ChainIkSolverPos_NR::delta_q

private

Definition at line 87 of file chainiksolverpos_nr.hpp.

delta_twist

Twist KDL::ChainIkSolverPos_NR::delta_twist

private

Definition at line 89 of file chainiksolverpos_nr.hpp.

E_FKSOLVERPOS_FAILED

const int KDL::ChainIkSolverPos_NR::E_FKSOLVERPOS_FAILED = -101

static

Child IK solver vel failed.

Definition at line 42 of file chainiksolverpos_nr.hpp.

E_IKSOLVER_FAILED

const int KDL::ChainIkSolverPos_NR::E_IKSOLVER_FAILED = -100

static

Definition at line 41 of file chainiksolverpos_nr.hpp.

eps

double KDL::ChainIkSolverPos_NR::eps

private

Definition at line 92 of file chainiksolverpos_nr.hpp.

f

Frame KDL::ChainIkSolverPos_NR::f

private

Definition at line 88 of file chainiksolverpos_nr.hpp.

fksolver

ChainFkSolverPos& KDL::ChainIkSolverPos_NR::fksolver

private

Definition at line 86 of file chainiksolverpos_nr.hpp.

iksolver

ChainIkSolverVel& KDL::ChainIkSolverPos_NR::iksolver

private

Definition at line 85 of file chainiksolverpos_nr.hpp.

maxiter

unsigned int KDL::ChainIkSolverPos_NR::maxiter

private

Definition at line 91 of file chainiksolverpos_nr.hpp.

nj

unsigned int KDL::ChainIkSolverPos_NR::nj

private

Definition at line 84 of file chainiksolverpos_nr.hpp.

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The documentation for this class was generated from the following files:

• chainiksolverpos_nr.hpp
• chainiksolverpos_nr.cpp