This abstract class encapsulates the inverse position solver for a KDL::Chain. More...
#include <treeiksolver.hpp>
Inheritance diagram for KDL::TreeIkSolverPos:
Public Member Functions | |
| virtual double | CartToJnt (const JntArray &q_init, const Frames &p_in, JntArray &q_out)=0 |
| virtual | ~TreeIkSolverPos () |
Detailed Description
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition at line 28 of file treeiksolver.hpp.
Constructor & Destructor Documentation
◆ ~TreeIkSolverPos()
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inlinevirtual |
Definition at line 43 of file treeiksolver.hpp.
Member Function Documentation
◆ CartToJnt()
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pure virtual |
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
- Parameters
-
q_init initial guess of the joint coordinates p_in input cartesian coordinates q_out output joint coordinates
- Returns
- if < 0 something went wrong otherwise (>=0) remaining (weighted) distance to target
Implemented in KDL::TreeIkSolverPos_NR_JL, and KDL::TreeIkSolverPos_Online.
The documentation for this class was generated from the following file:
