KDL
1.4.0
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This abstract class encapsulates the inverse velocity solver for a KDL::Tree. More...
#include <src/treeiksolver.hpp>
Public Member Functions | |
virtual double | CartToJnt (const JntArray &q_in, const Twists &v_in, JntArray &qdot_out)=0 |
Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocities. More... | |
virtual | ~TreeIkSolverVel () |
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
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inlinevirtual |
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pure virtual |
Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocities.
q_in | input joint positions |
v_in | input cartesian velocity |
qdot_out | output joint velocities |
Implemented in KDL::TreeIkSolverVel_wdls.
Referenced by KDL::TreeIkSolverPos_NR_JL::CartToJnt(), and KDL::TreeIkSolverPos_Online::CartToJnt().