This abstract class encapsulates the inverse position solver for a KDL::Chain.
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#include <src/treeiksolver.hpp>
This abstract class encapsulates the inverse position solver for a KDL::Chain.
§ ~TreeIkSolverPos()
virtual KDL::TreeIkSolverPos::~TreeIkSolverPos |
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inlinevirtual |
§ CartToJnt()
virtual double KDL::TreeIkSolverPos::CartToJnt |
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const JntArray & |
q_init, |
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const Frames & |
p_in, |
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JntArray & |
q_out |
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pure virtual |
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
- Parameters
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q_init | initial guess of the joint coordinates |
p_in | input cartesian coordinates |
q_out | output joint coordinates |
- Returns
- if < 0 something went wrong otherwise (>=0) remaining (weighted) distance to target
Implemented in KDL::TreeIkSolverPos_Online, and KDL::TreeIkSolverPos_NR_JL.
The documentation for this class was generated from the following file: