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24 #ifndef KDLCHAINIKSOLVERPOS_NR_JL_HPP
25 #define KDLCHAINIKSOLVERPOS_NR_JL_HPP
virtual const char * strError(const int error) const
Return a description of the latest error.
Definition: solveri.hpp:125
Definition: jntarray.hpp:69
void resize(unsigned int newSize)
Resize the array.
Definition: jntarray.cpp:55
void Add(const JntArray &src1, const JntArray &src2, JntArray &dest)
Function to add two joint arrays, all the arguments must have the same size: A + B = C.
Definition: jntarray.cpp:82
@ E_NOT_UP_TO_DATE
Chain size changed.
Definition: solveri.hpp:97
JntArray q_max
Definition: chainiksolverpos_nr_jl.hpp:115
Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations ...
Definition: chainiksolverpos_nr_jl.hpp:40
static const int E_FKSOLVERPOS_FAILED
Child IK solver vel failed.
Definition: chainiksolverpos_nr_jl.hpp:45
Definition: chainfksolver.hpp:41
static const int E_IKSOLVERVEL_FAILED
Definition: chainiksolverpos_nr_jl.hpp:44
virtual int JntToCart(const JntArray &q_in, Frame &p_out, int segmentNr=-1)=0
Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose.
Definition: articulatedbodyinertia.cpp:28
@ E_MAX_ITERATIONS_EXCEEDED
Maximum number of iterations exceeded.
Definition: solveri.hpp:101
represents both translational and rotational velocities.
Definition: frames.hpp:720
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)=0
Calculate inverse velocity kinematics, from joint positions and cartesian velocity to joint velocitie...
Frame f
Definition: chainiksolverpos_nr_jl.hpp:122
Twist delta_twist
Definition: chainiksolverpos_nr_jl.hpp:123
unsigned int rows() const
Returns the number of rows (size) of the array.
Definition: jntarray.cpp:72
@ E_SIZE_MISMATCH
Input size does not match internal state.
Definition: solveri.hpp:99
ChainIkSolverPos_NR_JL(const Chain &chain, const JntArray &q_min, const JntArray &q_max, ChainFkSolverPos &fksolver, ChainIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
Child FK solver failed.
Definition: chainiksolverpos_nr_jl.cpp:30
Definition: frames.hpp:570
unsigned int nj
Definition: chainiksolverpos_nr_jl.hpp:113
virtual void updateInternalDataStructures()=0
Update the internal data structures.
Eigen::VectorXd data
Definition: jntarray.hpp:72
double eps
Definition: chainiksolverpos_nr_jl.hpp:120
JntArray delta_q
Definition: chainiksolverpos_nr_jl.hpp:118
int setJointLimits(const JntArray &q_min, const JntArray &q_max)
Function to set the joint limits.
Definition: chainiksolverpos_nr_jl.cpp:103
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainiksolverpos_nr_jl.cpp:53
virtual void updateInternalDataStructures()=0
Update the internal data structures.
static Twist Zero()
Definition: frames.inl:290
~ChainIkSolverPos_NR_JL()
Definition: chainiksolverpos_nr_jl.cpp:111
IMETHOD bool Equal(const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon)
JntArray q_min
Definition: chainiksolverpos_nr_jl.hpp:114
unsigned int maxiter
Definition: chainiksolverpos_nr_jl.hpp:119
Definition: chainiksolver.hpp:66
const char * strError(const int error) const
Return a description of the latest error.
Definition: chainiksolverpos_nr_jl.cpp:115
virtual int CartToJnt(const JntArray &q_init, const Frame &p_in, JntArray &q_out)
Calculates the joint values that correspond to the input pose given an initial guess.
Definition: chainiksolverpos_nr_jl.cpp:62
Definition: chainiksolver.hpp:42
IMETHOD Vector diff(const Vector &p_w_a, const Vector &p_w_b, double dt=1)
determines the difference of vector b with vector a.
@ E_NOERROR
No error.
Definition: solveri.hpp:91
ChainFkSolverPos & fksolver
Definition: chainiksolverpos_nr_jl.hpp:117
unsigned int getNrOfJoints() const
Request the total number of joints in the chain.
Definition: chain.hpp:71
ChainIkSolverVel & iksolver
Definition: chainiksolverpos_nr_jl.hpp:116
const Chain & chain
Definition: chainiksolverpos_nr_jl.hpp:112
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:149