KDL::TreeIkSolverPos_NR_JL Class Reference

Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Tree. More...

#include <treeiksolverpos_nr_jl.hpp>

Inheritance diagram for KDL::TreeIkSolverPos_NR_JL:

List of all members.

Public Member Functions
virtual double	CartToJnt (const JntArray &q_init, const Frames &p_in, JntArray &q_out)
	Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
	TreeIkSolverPos_NR_JL (const Tree &tree, const std::vector< std::string > &endpoints, const JntArray &q_min, const JntArray &q_max, TreeFkSolverPos &fksolver, TreeIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
	Constructor of the solver, it needs the tree, a forward position kinematics solver and an inverse velocity kinematics solver for that tree, and a list of the segments you are interested in.
	~TreeIkSolverPos_NR_JL ()

Detailed Description

Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Tree.

Takes joint limits into account.

Definition at line 42 of file treeiksolverpos_nr_jl.hpp.

Constructor & Destructor Documentation

KDL::TreeIkSolverPos_NR_JL::TreeIkSolverPos_NR_JL	(	const Tree &	tree,
		const std::vector< std::string > &	endpoints,
		const JntArray &	q_min,
		const JntArray &	q_max,
		TreeFkSolverPos &	fksolver,
		TreeIkSolverVel &	iksolver,
		unsigned int	maxiter = `100`,
		double	eps = `1e-6`
	)

Constructor of the solver, it needs the tree, a forward position kinematics solver and an inverse velocity kinematics solver for that tree, and a list of the segments you are interested in.

Parameters:

	tree	the tree to calculate the inverse position for
	endpoints	the list of endpoints you are interested in.
	q_max	the maximum joint positions
	q_min	the minimum joint positions
	fksolver	a forward position kinematics solver
	iksolver	an inverse velocity kinematics solver
	maxiter	the maximum Newton-Raphson iterations, default: 100
	eps	the precision for the position, used to end the iterations, default: epsilon (defined in kdl.hpp)

Returns:

Definition at line 27 of file treeiksolverpos_nr_jl.cpp.

References KDL::Frame::Identity(), and KDL::Twist::Zero().

KDL::TreeIkSolverPos_NR_JL::~TreeIkSolverPos_NR_JL ( )

Definition at line 82 of file treeiksolverpos_nr_jl.cpp.

Member Function Documentation

double KDL::TreeIkSolverPos_NR_JL::CartToJnt	(	const JntArray &	q_init,
		const Frames &	p_in,
		JntArray &	q_out
	)			`[virtual]`

Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.

Parameters:

	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

Implements KDL::TreeIkSolverPos.

Definition at line 45 of file treeiksolverpos_nr_jl.cpp.

References KDL::Add(), KDL::TreeIkSolverVel::CartToJnt(), KDL::diff(), KDL::TreeFkSolverPos::JntToCart(), k, and KDL::JntArray::rows().

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

KDL::TreeIkSolverPos_NR_JL Class Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation