KDL::ChainIkSolverPos_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::Chain. More...

#include <chainiksolverpos_nr_jl.hpp>

Inheritance diagram for KDL::ChainIkSolverPos_NR_JL:

List of all members.

Public Member Functions
virtual int	CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)
	Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
	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)
	Constructor of the solver, it needs the chain, a forward position kinematics solver and an inverse velocity kinematics solver for that chain.
	~ChainIkSolverPos_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::Chain.

Takes joint limits into account.

Definition at line 40 of file chainiksolverpos_nr_jl.hpp.

Constructor & Destructor Documentation

KDL::ChainIkSolverPos_NR_JL::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`
	)

Constructor of the solver, it needs the chain, a forward position kinematics solver and an inverse velocity kinematics solver for that chain.

Parameters:

	chain	the chain to calculate the inverse position for
	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)