KDL 1.5.1
treeiksolverpos_nr_jl.hpp
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1// Copyright (C) 2007-2008 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2// Copyright (C) 2008 Mikael Mayer
3// Copyright (C) 2008 Julia Jesse
4
5// Version: 1.0
6// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
7// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
8// URL: http://www.orocos.org/kdl
9
10// This library is free software; you can redistribute it and/or
11// modify it under the terms of the GNU Lesser General Public
12// License as published by the Free Software Foundation; either
13// version 2.1 of the License, or (at your option) any later version.
14
15// This library is distributed in the hope that it will be useful,
16// but WITHOUT ANY WARRANTY; without even the implied warranty of
17// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
18// Lesser General Public License for more details.
19
20// You should have received a copy of the GNU Lesser General Public
21// License along with this library; if not, write to the Free Software
22// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
23
24#ifndef KDLTREEIKSOLVERPOS_NR_JL_HPP
25#define KDLTREEIKSOLVERPOS_NR_JL_HPP
26
27#include "treeiksolver.hpp"
28#include "treefksolver.hpp"
29#include <vector>
30#include <string>
31
32namespace KDL {
33
43public:
62 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);
64
65 virtual double CartToJnt(const JntArray& q_init, const Frames& p_in, JntArray& q_out);
66
67private:
68 const Tree tree;
76 std::vector<std::string> endpoints;
77
78 unsigned int maxiter;
79 double eps;
80};
81
82}
83
84#endif
Definition: jntarray.hpp:70
Definition: treefksolver.hpp:45
Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations ...
Definition: treeiksolverpos_nr_jl.hpp:42
Twists delta_twists
Definition: treeiksolverpos_nr_jl.hpp:75
virtual double CartToJnt(const JntArray &q_init, const Frames &p_in, JntArray &q_out)
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
Definition: treeiksolverpos_nr_jl.cpp:42
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)
Constructor of the solver, it needs the tree, a forward position kinematics solver and an inverse vel...
Definition: treeiksolverpos_nr_jl.cpp:27
JntArray delta_q
Definition: treeiksolverpos_nr_jl.hpp:73
unsigned int maxiter
Definition: treeiksolverpos_nr_jl.hpp:78
Frames frames
Definition: treeiksolverpos_nr_jl.hpp:74
std::vector< std::string > endpoints
Definition: treeiksolverpos_nr_jl.hpp:76
double eps
Definition: treeiksolverpos_nr_jl.hpp:79
~TreeIkSolverPos_NR_JL()
Definition: treeiksolverpos_nr_jl.cpp:79
const Tree tree
Definition: treeiksolverpos_nr_jl.hpp:68
JntArray q_min
Definition: treeiksolverpos_nr_jl.hpp:69
JntArray q_max
Definition: treeiksolverpos_nr_jl.hpp:70
TreeFkSolverPos & fksolver
Definition: treeiksolverpos_nr_jl.hpp:72
TreeIkSolverVel & iksolver
Definition: treeiksolverpos_nr_jl.hpp:71
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition: treeiksolver.hpp:28
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
Definition: treeiksolver.hpp:54
This class encapsulates a tree kinematic interconnection structure.
Definition: tree.hpp:100
Definition: articulatedbodyinertia.cpp:26
std::map< std::string, Frame > Frames
Definition: treeiksolver.hpp:20
std::map< std::string, Twist > Twists
Definition: treeiksolver.hpp:18