orocos_kdl
src
treeiksolverpos_nr_jl.hpp
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// Copyright (C) 2007-2008 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Copyright (C) 2008 Mikael Mayer
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// Copyright (C) 2008 Julia Jesse
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#ifndef KDLTREEIKSOLVERPOS_NR_JL_HPP
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#define KDLTREEIKSOLVERPOS_NR_JL_HPP
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#include "
treeiksolver.hpp
"
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#include "
treefksolver.hpp
"
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#include <
vector
>
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#include <
string
>
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namespace
KDL
{
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class
TreeIkSolverPos_NR_JL
:
public
TreeIkSolverPos
{
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public
:
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TreeIkSolverPos_NR_JL
(
const
Tree
&
tree
,
const
std::vector<std::string>
&
endpoints
,
const
JntArray
&
q_min
,
const
JntArray
&
q_max
,
TreeFkSolverPos
&
fksolver
,
TreeIkSolverVel
&
iksolver
,
unsigned
int
maxiter
=100,
double
eps
=1e-6);
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~TreeIkSolverPos_NR_JL
();
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virtual
double
CartToJnt
(
const
JntArray
& q_init,
const
Frames
& p_in,
JntArray
& q_out);
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private
:
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const
Tree
tree
;
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JntArray
q_min
;
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JntArray
q_max
;
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TreeIkSolverVel
&
iksolver
;
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TreeFkSolverPos
&
fksolver
;
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JntArray
delta_q
;
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Frames
frames
;
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Twists
delta_twists
;
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std::vector<std::string>
endpoints
;
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unsigned
int
maxiter
;
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double
eps
;
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};
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}
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#endif
KDL::TreeIkSolverPos_NR_JL::q_max
JntArray q_max
Definition:
treeiksolverpos_nr_jl.hpp:70
KDL::JntArray
Definition:
jntarray.hpp:69
KDL::TreeIkSolverPos_NR_JL::delta_q
JntArray delta_q
Definition:
treeiksolverpos_nr_jl.hpp:73
KDL::TreeIkSolverPos_NR_JL::delta_twists
Twists delta_twists
Definition:
treeiksolverpos_nr_jl.hpp:75
KDL::TreeFkSolverPos
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree.
Definition:
treefksolver.hpp:45
KDL::TreeIkSolverPos_NR_JL::fksolver
TreeFkSolverPos & fksolver
Definition:
treeiksolverpos_nr_jl.hpp:72
vector
KDL::TreeIkSolverPos
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition:
treeiksolver.hpp:28
treeiksolver.hpp
KDL::TreeIkSolverPos_NR_JL::maxiter
unsigned int maxiter
Definition:
treeiksolverpos_nr_jl.hpp:78
KDL::TreeIkSolverVel
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
Definition:
treeiksolver.hpp:54
KDL
Definition:
kukaLWR_DHnew.cpp:25
treefksolver.hpp
KDL::TreeIkSolverPos_NR_JL::frames
Frames frames
Definition:
treeiksolverpos_nr_jl.hpp:74
std::map< std::string, Frame >
KDL::Tree
This class encapsulates a tree kinematic interconnection structure. It is built out of segments.
Definition:
tree.hpp:99
KDL::TreeIkSolverPos_NR_JL::TreeIkSolverPos_NR_JL
TreeIkSolverPos_NR_JL(const Tree &tree, const std::vector< std::string > &endpoints, const JntArray &q_min, const JntArray &q_max, TreeFkSolverPos &fksolver, TreeIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
Definition:
treeiksolverpos_nr_jl.cpp:27
KDL::TreeIkSolverPos_NR_JL::CartToJnt
virtual double CartToJnt(const JntArray &q_init, const Frames &p_in, JntArray &q_out)
Definition:
treeiksolverpos_nr_jl.cpp:42
KDL::TreeIkSolverPos_NR_JL::endpoints
std::vector< std::string > endpoints
Definition:
treeiksolverpos_nr_jl.hpp:76
KDL::TreeIkSolverPos_NR_JL
Definition:
treeiksolverpos_nr_jl.hpp:42
KDL::TreeIkSolverPos_NR_JL::tree
const Tree tree
Definition:
treeiksolverpos_nr_jl.hpp:68
KDL::TreeIkSolverPos_NR_JL::eps
double eps
Definition:
treeiksolverpos_nr_jl.hpp:79
KDL::TreeIkSolverPos_NR_JL::iksolver
TreeIkSolverVel & iksolver
Definition:
treeiksolverpos_nr_jl.hpp:71
KDL::TreeIkSolverPos_NR_JL::~TreeIkSolverPos_NR_JL
~TreeIkSolverPos_NR_JL()
Definition:
treeiksolverpos_nr_jl.cpp:79
KDL::TreeIkSolverPos_NR_JL::q_min
JntArray q_min
Definition:
treeiksolverpos_nr_jl.hpp:69
string
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