KDL::SolverI Class Reference

#include <solveri.hpp>

Inheritance diagram for KDL::SolverI:

Public Types
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 }

Public Member Functions
virtual int	getError () const
	Return the latest error. More...
	SolverI ()
	Initialize latest error to E_NOERROR. More...
virtual const char *	strError (const int error) const
virtual void	updateInternalDataStructures ()=0
virtual	~SolverI ()

Protected Attributes
int	error
	Latest error, initialized to E_NOERROR in constructor. More...

Detailed Description

Solver interface supporting storage and description of the latest error.

Error codes: Zero (0) indicates no error, positive error codes indicate more of a warning (e.g. a degraded solution, but motion can continue), and negative error codes indicate failure (e.g. a singularity, and motion can not continue).

Error codes between -99 and +99 (inclusive) are reserved for system-wide error codes. Derived classes should use values > +100, and < -100.

Example use

class MySolver : public SolverI
{
public:
   static const int E_CHILDFAILD = xxx;
 
   MySolver(SomeOtherSolver& other);
   virtual ~MySolver();
      int CartToJnt(...);
   virtual const char* strError(const int error) const;
protected:
   SomeOtherSolver& child;
};
 
...
 
int MySolver::CartToJnt(...)
{
    error = child->SomeCall();
    if (E_NOERROR != error) {
        error = E_CHILDFAILED;
    } else {
        ...
    }
    return error;
}
 
const char* MySolver::strError(const int error) const
{
    if (E_CHILDFAILED == error) return "Child solver failed";
    else return SolverI::strError(error);
}
 
void someFunc()
{
    SomeOtherSolver child = new SomeOtherSolver(...);
    MySolver parent = new MySolver(child);
    ...
    int rc = parent->CartToJnt(...);
    if (E_NOERROR != rc) {
        if (MySolver::E_CHILDFAILED == rc) {
            rc = child->getError();
            // cope with child failure 'rc'
        }
    }
    ...
}

Definition at line 84 of file solveri.hpp.

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
E_DEGRADED	Converged but degraded solution (e.g. WDLS with psuedo-inverse singular)
E_NOERROR	No error.
E_NO_CONVERGE	Failed to converge.
E_UNDEFINED	Undefined value (e.g. computed a NAN, or tan(90 degrees) )
E_NOT_UP_TO_DATE	Chain size changed.
E_SIZE_MISMATCH	Input size does not match internal state.
E_MAX_ITERATIONS_EXCEEDED	Maximum number of iterations exceeded.
E_OUT_OF_RANGE	Requested index out of range.
E_NOT_IMPLEMENTED	Not yet implemented.
E_SVD_FAILED	Internal svd calculation failed.

Definition at line 87 of file solveri.hpp.

Constructor & Destructor Documentation

SolverI()

KDL::SolverI::SolverI ( )

inline

Initialize latest error to E_NOERROR.

Definition at line 111 of file solveri.hpp.

~SolverI()

virtual KDL::SolverI::~SolverI ( )

inlinevirtual

Definition at line 115 of file solveri.hpp.

Member Function Documentation

getError()

virtual int KDL::SolverI::getError ( ) const

inlinevirtual

Return the latest error.

Definition at line 119 of file solveri.hpp.

strError()

virtual const char* KDL::SolverI::strError ( const int  error ) const

inlinevirtual

Return a description of the latest error

Returns

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

Reimplemented in KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverPos_LMA, KDL::ChainJntToJacDotSolver, KDL::ChainIkSolverPos_NR_JL, KDL::ChainExternalWrenchEstimator, KDL::ChainIkSolverVel_pinv, and KDL::ChainIkSolverPos_NR.

Definition at line 125 of file solveri.hpp.

updateInternalDataStructures()

virtual void KDL::SolverI::updateInternalDataStructures ( )

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.

Implemented in KDL::ChainIkSolverAcc, KDL::ChainFkSolverAcc, KDL::ChainFkSolverVel, KDL::ChainIkSolverVel, KDL::ChainFkSolverPos, KDL::ChainIkSolverPos, KDL::ChainHdSolver_Vereshchagin, KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverPos_LMA, KDL::ChainIkSolverVel_pinv_nso, KDL::ChainJntToJacDotSolver, KDL::ChainIkSolverPos_NR_JL, KDL::ChainExternalWrenchEstimator, KDL::ChainIkSolverVel_pinv, KDL::ChainIkSolverPos_NR, KDL::ChainFdSolver_RNE, KDL::ChainJntToJacSolver, KDL::ChainIdSolver_RNE, KDL::TreeIdSolver_RNE, KDL::ChainDynParam, KDL::ChainFkSolverPos_recursive, KDL::ChainFkSolverVel_recursive, and KDL::ChainIkSolverVel_pinv_givens.

Member Data Documentation

error

int KDL::SolverI::error

protected

Latest error, initialized to E_NOERROR in constructor.

Definition at line 149 of file solveri.hpp.

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

• solveri.hpp