KDL::ChainIkSolverVel Class Reference

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

#include <chainiksolver.hpp>

Inheritance diagram for KDL::ChainIkSolverVel:

List of all members.

Public Member Functions
virtual int	CartToJnt (const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)=0
	Calculate inverse position and velocity kinematics, from cartesian position and velocity to joint positions and velocities.
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 velocities.
virtual	~ChainIkSolverVel ()

---

Detailed Description

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

Definition at line 64 of file chainiksolver.hpp.

---

Constructor & Destructor Documentation

virtual KDL::ChainIkSolverVel::~ChainIkSolverVel

(

)

[inline, virtual]

Definition at line 89 of file chainiksolver.hpp.

---

Member Function Documentation

virtual int KDL::ChainIkSolverVel::CartToJnt	(	const JntArray &	q_init,
		const FrameVel &	v_in,
		JntArrayVel &	q_out
	)			[pure virtual]

Calculate inverse position and velocity kinematics, from cartesian position and velocity to joint positions and velocities.

Parameters:

	q_init	initial joint positions
	v_in	input cartesian position and velocity
	q_out	output joint position and velocity

Returns:

if < 0 something went wrong

Implemented in KDL::ChainIkSolverVel_pinv, KDL::ChainIkSolverVel_pinv_givens, KDL::ChainIkSolverVel_pinv_nso, and KDL::ChainIkSolverVel_wdls.

virtual int KDL::ChainIkSolverVel::CartToJnt	(	const JntArray &	q_in,
		const Twist &	v_in,
		JntArray &	qdot_out
	)			[pure virtual]

Calculate inverse velocity kinematics, from joint positions and cartesian velocity to joint velocities.

Parameters:

	q_in	input joint positions
	v_in	input cartesian velocity
	qdot_out	output joint velocities

Returns:

if < 0 something went wrong

Implemented in KDL::ChainIkSolverVel_pinv, KDL::ChainIkSolverVel_pinv_givens, KDL::ChainIkSolverVel_pinv_nso, and KDL::ChainIkSolverVel_wdls.

Referenced by KDL::ChainIkSolverPos_NR_JL::CartToJnt(), and KDL::ChainIkSolverPos_NR::CartToJnt().

---

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

• chainiksolver.hpp