KDL::TreeIkSolverVel Class Reference
This abstract class encapsulates the inverse velocity solver for a KDL::Tree. More...
#include <treeiksolver.hpp>
Inheritance diagram for KDL::TreeIkSolverVel:
Public Member Functions | |
| 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 velocities. | |
| virtual | ~TreeIkSolverVel () |
Detailed Description
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
Definition at line 53 of file treeiksolver.hpp.
Constructor & Destructor Documentation
| virtual KDL::TreeIkSolverVel::~TreeIkSolverVel | ( | ) | [inline, virtual] |
Definition at line 68 of file treeiksolver.hpp.
Member Function Documentation
| virtual double KDL::TreeIkSolverVel::CartToJnt | ( | const JntArray & | q_in, | |
| const Twists & | v_in, | |||
| JntArray & | qdot_out | |||
| ) | [pure virtual] |
Calculate inverse velocity kinematics, from joint positions and cartesian velocities 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 distance to goal otherwise (weighted norm of v_in)
Implemented in KDL::TreeIkSolverVel_wdls.
Referenced by KDL::TreeIkSolverPos_NR_JL::CartToJnt().
The documentation for this class was generated from the following file:
