KDL  1.4.0
Public Types | Public Member Functions | Protected Attributes | List of all members
KDL::ChainIdSolver Class Referenceabstract

This abstract class encapsulates the inverse dynamics solver for a KDL::Chain. More...

#include <src/chainidsolver.hpp>

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Public Types

enum  {
  E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2,
  E_NOT_UP_TO_DATE = -3, E_SIZE_MISMATCH = -4, E_MAX_ITERATIONS_EXCEEDED = -5, E_OUT_OF_RANGE = -6,
  E_NOT_IMPLEMENTED = -7, E_SVD_FAILED = -8
}
 

Public Member Functions

virtual int CartToJnt (const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext, JntArray &torques)=0
 Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces to joint torques/forces. More...
 
virtual int getError () const
 Return the latest error. More...
 
virtual const char * strError (const int error) const
 Return a description of the latest error. More...
 
virtual void updateInternalDataStructures ()=0
 Update the internal data structures. More...
 

Protected Attributes

int error
 Latest error, initialized to E_NOERROR in constructor. More...
 

Detailed Description

This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.

Member Enumeration Documentation

§ anonymous enum

anonymous enum
inherited
Enumerator
E_DEGRADED 

Converged but degraded solution (e.g. WDLS with psuedo-inverse singular)

E_NOERROR 

No error.

E_NO_CONVERGE 

Failed to converge.

E_UNDEFINED 

Undefined value (e.g. computed a NAN, or tan(90 degrees) )

E_NOT_UP_TO_DATE 

Chain size changed.

E_SIZE_MISMATCH 

Input size does not match internal state.

E_MAX_ITERATIONS_EXCEEDED 

Maximum number of iterations exceeded.

E_OUT_OF_RANGE 

Requested index out of range.

E_NOT_IMPLEMENTED 

Not yet implemented.

E_SVD_FAILED 

Internal svd calculation failed.

Member Function Documentation

§ CartToJnt()

virtual int KDL::ChainIdSolver::CartToJnt ( const JntArray q,
const JntArray q_dot,
const JntArray q_dotdot,
const Wrenches f_ext,
JntArray torques 
)
pure virtual

Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces to joint torques/forces.

Parameters
qinput joint positions
q_dotinput joint velocities
q_dotdotinput joint accelerations
torqueoutput joint torques
Returns
if < 0 something went wrong

Implemented in KDL::ChainIdSolver_RNE.

§ getError()

virtual int KDL::SolverI::getError ( ) const
inlinevirtualinherited

Return the latest error.

References KDL::SolverI::error.

§ strError()

virtual const char* KDL::SolverI::strError ( const int  error) const
inlinevirtualinherited

§ updateInternalDataStructures()

virtual void KDL::SolverI::updateInternalDataStructures ( )
pure virtualinherited

Member Data Documentation

§ error

int KDL::SolverI::error
protectedinherited

The documentation for this class was generated from the following file: