KDL
1.4.0
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Solver interface supporting storage and description of the latest error. More...
#include <src/solveri.hpp>
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 | |
SolverI () | |
Initialize latest error to E_NOERROR. More... | |
virtual | ~SolverI () |
virtual int | getError () const |
Return the latest error. More... | |
virtual const char * | strError (const int error) const |
Return a description of the latest error. More... | |
virtual void | updateInternalDataStructures ()=0 |
Update the internal data structures. More... | |
Protected Attributes | |
int | error |
Latest error, initialized to E_NOERROR in constructor. More... | |
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
anonymous enum |
Enumerator | |
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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. |
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inline |
Initialize latest error to E_NOERROR.
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inlinevirtual |
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inlinevirtual |
Return the latest error.
References error.
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inlinevirtual |
Return a description of the latest error.
Reimplemented in KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverPos_LMA, KDL::ChainJntToJacDotSolver, KDL::ChainIkSolverPos_NR_JL, KDL::ChainIkSolverVel_pinv, and KDL::ChainIkSolverPos_NR.
References E_DEGRADED, E_MAX_ITERATIONS_EXCEEDED, E_NO_CONVERGE, E_NOERROR, E_NOT_IMPLEMENTED, E_NOT_UP_TO_DATE, E_OUT_OF_RANGE, E_SIZE_MISMATCH, E_SVD_FAILED, E_UNDEFINED, and updateInternalDataStructures().
Referenced by KDL::ChainIkSolverPos_NR::strError(), KDL::ChainIkSolverVel_pinv::strError(), KDL::ChainIkSolverPos_NR_JL::strError(), KDL::ChainJntToJacDotSolver::strError(), KDL::ChainIkSolverPos_LMA::strError(), and KDL::ChainIkSolverVel_wdls::strError().
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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::ChainIkSolverVel_wdls, KDL::ChainIkSolverAcc, KDL::ChainIkSolverPos_LMA, KDL::ChainIkSolverVel_pinv_nso, KDL::ChainFkSolverAcc, KDL::ChainJntToJacDotSolver, KDL::ChainIkSolverPos_NR_JL, KDL::ChainIkSolverVel_pinv, KDL::ChainFkSolverVel, KDL::ChainIkSolverVel, KDL::ChainIkSolverPos_NR, KDL::ChainIdSolver_Vereshchagin, KDL::ChainJntToJacSolver, KDL::ChainFkSolverPos, KDL::ChainIdSolver_RNE, KDL::ChainDynParam, KDL::ChainIkSolverPos, KDL::ChainIkSolverVel_pinv_givens, KDL::ChainFkSolverPos_recursive, and KDL::ChainFkSolverVel_recursive.
Referenced by strError().
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protected |
Latest error, initialized to E_NOERROR in constructor.
Referenced by KDL::ChainIkSolverVel_pinv_givens::CartToJnt(), KDL::ChainIdSolver_RNE::CartToJnt(), KDL::ChainIkSolverVel_pinv_nso::CartToJnt(), KDL::ChainIdSolver_Vereshchagin::CartToJnt(), KDL::ChainIkSolverPos_NR::CartToJnt(), KDL::ChainIkSolverVel_pinv::CartToJnt(), KDL::ChainIkSolverPos_NR_JL::CartToJnt(), KDL::ChainIkSolverVel_wdls::CartToJnt(), KDL::ChainIkSolverPos_LMA::CartToJnt(), getError(), KDL::ChainIkSolverVel_wdls::getSigma(), KDL::ChainIkSolverVel_pinv::getSVDResult(), KDL::ChainIkSolverVel_wdls::getSVDResult(), KDL::ChainFkSolverPos_recursive::JntToCart(), KDL::ChainFkSolverVel_recursive::JntToCart(), KDL::ChainJntToJacSolver::JntToJac(), KDL::ChainJntToJacDotSolver::JntToJacDot(), KDL::ChainDynParam::JntToMass(), KDL::ChainJntToJacDotSolver::setInternialRepresentation(), KDL::ChainIkSolverPos_NR_JL::setJointLimits(), KDL::ChainJntToJacSolver::setLockedJoints(), KDL::ChainJntToJacDotSolver::setLockedJoints(), KDL::ChainIkSolverVel_pinv_nso::setOptPos(), KDL::ChainIkSolverVel_wdls::setWeightJS(), KDL::ChainIkSolverVel_pinv_nso::setWeights(), and KDL::ChainIkSolverVel_wdls::setWeightTS().