KDL 1.5.1
treeiksolver.hpp
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1/*
2 * treeiksolver.hpp
3 *
4 * Created on: Nov 28, 2008
5 * Author: rubensmits
6 */
7
8#ifndef TREEIKSOLVER_HPP_
9#define TREEIKSOLVER_HPP_
10
11#include "tree.hpp"
12#include "jntarray.hpp"
13#include "frames.hpp"
14#include <map>
15
16namespace KDL {
17
18typedef std::map<std::string, Twist> Twists;
19typedef std::map<std::string, Jacobian> Jacobians;
20typedef std::map<std::string, Frame> Frames;
21
29public:
41 virtual double CartToJnt(const JntArray& q_init, const Frames& p_in,JntArray& q_out)=0;
42
43 virtual ~TreeIkSolverPos() {
44 }
45 ;
46};
47
55public:
67 virtual double CartToJnt(const JntArray& q_in, const Twists& v_in, JntArray& qdot_out)=0;
68
69 virtual ~TreeIkSolverVel() {
70 }
71 ;
72
73};
74
75}
76
77#endif /* TREEIKSOLVER_HPP_ */
Definition: jntarray.hpp:70
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition: treeiksolver.hpp:28
virtual ~TreeIkSolverPos()
Definition: treeiksolver.hpp:43
virtual double CartToJnt(const JntArray &q_init, const Frames &p_in, JntArray &q_out)=0
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
Definition: treeiksolver.hpp:54
virtual double CartToJnt(const JntArray &q_in, const Twists &v_in, JntArray &qdot_out)=0
Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocit...
virtual ~TreeIkSolverVel()
Definition: treeiksolver.hpp:69
Definition: articulatedbodyinertia.cpp:26
std::map< std::string, Frame > Frames
Definition: treeiksolver.hpp:20
std::map< std::string, Twist > Twists
Definition: treeiksolver.hpp:18
std::map< std::string, Jacobian > Jacobians
Definition: treeiksolver.hpp:19