25 #ifndef KDLTREEIKSOLVERPOS_ONLINE_HPP 26 #define KDLTREEIKSOLVERPOS_ONLINE_HPP 65 const std::vector<std::string>& endpoints,
69 const double x_dot_trans_max,
70 const double x_dot_rot_max,
void enforceJointVelLimits()
Scales the class member KDL::JntArray q_dot_, if one (or more) joint velocity exceeds the maximum val...
Definition: treeiksolverpos_online.cpp:115
double x_dot_trans_max_
Definition: treeiksolverpos_online.hpp:95
JntArray q_dot_
Definition: treeiksolverpos_online.hpp:99
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree...
Definition: treefksolver.hpp:45
Twists delta_twists_
Definition: treeiksolverpos_online.hpp:102
JntArray q_min_
Definition: treeiksolverpos_online.hpp:92
TreeFkSolverPos & fksolver_
Definition: treeiksolverpos_online.hpp:97
TreeIkSolverVel & iksolver_
Definition: treeiksolverpos_online.hpp:98
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
~TreeIkSolverPos_Online()
Definition: treeiksolverpos_online.cpp:59
TreeIkSolverPos_Online(const double &nr_of_jnts, const std::vector< std::string > &endpoints, const JntArray &q_min, const JntArray &q_max, const JntArray &q_dot_max, const double x_dot_trans_max, const double x_dot_rot_max, TreeFkSolverPos &fksolver, TreeIkSolverVel &iksolver)
Constructor of the solver, it needs the number of joints of the tree, a list of the endpoints you are...
Definition: treeiksolverpos_online.cpp:29
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:28
double x_dot_rot_max_
Definition: treeiksolverpos_online.hpp:96
void enforceCartVelLimits()
Scales translational and rotational velocity vectors of the class member KDL::Twist twist_...
Definition: treeiksolverpos_online.cpp:153
std::map< std::string, Frame > Frames
Definition: treeiksolver.hpp:20
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
virtual double CartToJnt(const JntArray &q_in, const Frames &p_in, JntArray &q_out)
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
Definition: treeiksolverpos_online.cpp:63
Frames frames_
Definition: treeiksolverpos_online.hpp:101
Twist twist_
Definition: treeiksolverpos_online.hpp:100
std::map< std::string, Twist > Twists
Definition: treeiksolver.hpp:18
JntArray q_max_
Definition: treeiksolverpos_online.hpp:93
JntArray q_dot_max_
Definition: treeiksolverpos_online.hpp:94
Implementation of a general inverse position kinematics algorithm to calculate the position transform...
Definition: treeiksolverpos_online.hpp:44