24 #ifndef KDLTREEIKSOLVERPOS_NR_JL_HPP 25 #define KDLTREEIKSOLVERPOS_NR_JL_HPP 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