KDL::ChainIkSolverAcc Class Reference

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

#include <chainiksolver.hpp>

List of all members.

Public Member Functions
virtual int	CartTojnt (const JntArray &q_init, const Frame &p_in, const JntArray &qdot_in, const Twist &a_in, JntArray &q_out, JntArray &qdotdot_out)=0
	Calculate inverse position and acceleration kinematics from joint velocities and cartesian position and acceleration to joint positions and accelerations.
virtual int	CartToJnt (const JntArray &q_in, const Twist &v_in, const Twist &a_in, JntArray &qdot_out, JntArray &qdotdot_out)=0
	Calculate inverse velocity and acceleration kinematics from joint positions and cartesian velocity and acceleration to joint velocities and accelerations.
virtual int	CartTojnt (const JntArray &q_init, const FrameAcc &a_in, JntArrayAcc &q_out)=0
	Calculate inverse position, velocity and acceration kinematics from cartesian coordinates to joint coordinates.
virtual int	CartToJnt (const JntArray &q_in, const JntArray &qdot_in, const Twist a_in, JntArray &qdotdot_out)=0
	Calculate inverse acceleration kinematics from joint positions, joint velocities and cartesian acceleration to joint accelerations.
virtual	~ChainIkSolverAcc ()

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Detailed Description

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

Definition at line 100 of file chainiksolver.hpp.

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Constructor & Destructor Documentation

virtual KDL::ChainIkSolverAcc::~ChainIkSolverAcc

(

)

[inline, virtual]

Definition at line 160 of file chainiksolver.hpp.

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Member Function Documentation

virtual int KDL::ChainIkSolverAcc::CartTojnt	(	const JntArray &	q_init,
		const Frame &	p_in,
		const JntArray &	qdot_in,
		const Twist &	a_in,
		JntArray &	q_out,
		JntArray &	qdotdot_out
	)			[pure virtual]

Calculate inverse position and acceleration kinematics from joint velocities and cartesian position and acceleration to joint positions and accelerations.

Parameters:

	q_init	initial guess for joint positions
	p_in	input cartesian position
	qdot_in	input joint velocities
	a_in	input cartesian acceleration
	q_out	output joint positions
	qdotdot_out	output joint accelerations

Returns:

if < 0 something went wrong

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

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

Parameters:

	q_in	input joint positions
	v_in	input cartesian velocity
	a_in	input cartesian acceleration
	qdot_out	output joint velocities
	qdotdot_out	output joint accelerations

Returns:

if < 0 something went wrong

virtual int KDL::ChainIkSolverAcc::CartTojnt	(	const JntArray &	q_init,
		const FrameAcc &	a_in,
		JntArrayAcc &	q_out
	)			[pure virtual]

Calculate inverse position, velocity and acceration kinematics from cartesian coordinates to joint coordinates.

Parameters:

	q_init	initial guess for joint positions
	a_in	input cartesian position, velocity and acceleration
	q_out	output joint position, velocity and acceleration

Returns:

if < 0 something went wrong

virtual int KDL::ChainIkSolverAcc::CartToJnt	(	const JntArray &	q_in,
		const JntArray &	qdot_in,
		const Twist	a_in,
		JntArray &	qdotdot_out
	)			[pure virtual]

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

Parameters:

	q_in	input joint positions
	qdot_in	input joint velocities
	a_in	input cartesian acceleration
	qdotdot_out	output joint accelerations

Returns:

if < 0 something went wrong

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

• chainiksolver.hpp