22 #ifndef KDL_CHAIN_IKSOLVER_HPP 23 #define KDL_CHAIN_IKSOLVER_HPP This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition: chainiksolver.hpp:42
virtual int CartToJnt(const JntArray &q_init, const Frame &p_in, JntArray &q_out)=0
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
Solver interface supporting storage and description of the latest error.
Definition: solveri.hpp:84
virtual ~ChainIkSolverAcc()
Definition: chainiksolver.hpp:163
Definition: frameacc.hpp:165
virtual void updateInternalDataStructures()=0
Update the internal data structures.
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:28
Definition: jntarrayvel.hpp:45
virtual ~ChainIkSolverPos()
Definition: chainiksolver.hpp:56
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
This abstract class encapsulates the inverse acceleration solver for a KDL::Chain.
Definition: chainiksolver.hpp:102
Definition: framevel.hpp:197
Definition: jntarrayacc.hpp:49
virtual ~ChainIkSolverVel()
Definition: chainiksolver.hpp:91
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
Definition: chainiksolver.hpp:66