KDL  1.4.0
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 
32 namespace KDL {
33 
43 public:
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 
67 private:
68  const Tree tree;
76  std::vector<std::string> endpoints;
77 
78  unsigned int maxiter;
79  double eps;
80 };
81 
82 }
83 
84 #endif
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree...
Definition: treefksolver.hpp:45
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
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
std::vector< std::string > endpoints
Definition: treeiksolverpos_nr_jl.hpp:76
Frames frames
Definition: treeiksolverpos_nr_jl.hpp:74
JntArray delta_q
Definition: treeiksolverpos_nr_jl.hpp:73
unsigned int maxiter
Definition: treeiksolverpos_nr_jl.hpp:78
TreeFkSolverPos & fksolver
Definition: treeiksolverpos_nr_jl.hpp:72
TreeIkSolverVel & iksolver
Definition: treeiksolverpos_nr_jl.hpp:71
Definition: articulatedbodyinertia.cpp:28
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
JntArray q_max
Definition: treeiksolverpos_nr_jl.hpp:70
std::map< std::string, Frame > Frames
Definition: treeiksolver.hpp:20
const Tree tree
Definition: treeiksolverpos_nr_jl.hpp:68
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition: treeiksolver.hpp:28
~TreeIkSolverPos_NR_JL()
Definition: treeiksolverpos_nr_jl.cpp:79
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
Definition: treeiksolver.hpp:54
JntArray q_min
Definition: treeiksolverpos_nr_jl.hpp:69
Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations ...
Definition: treeiksolverpos_nr_jl.hpp:42
std::map< std::string, Twist > Twists
Definition: treeiksolver.hpp:18
This class encapsulates a tree kinematic interconnection structure.
Definition: tree.hpp:99
Twists delta_twists
Definition: treeiksolverpos_nr_jl.hpp:75
double eps
Definition: treeiksolverpos_nr_jl.hpp:79