KDL  1.3.0
Public Types | Public Member Functions | Protected Attributes | List of all members
KDL::ChainIkSolverPos Class Referenceabstract

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

#include <src/chainiksolver.hpp>

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Public Types

enum  { E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2 }
 

Public Member Functions

virtual int CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)=0
 Calculate inverse position kinematics, from cartesian coordinates to joint coordinates. More...
 
virtual ~ChainIkSolverPos ()
 
virtual int getError () const
 Return the latest error. More...
 
virtual const char * strError (const int error) const
 Return a description of the latest error. More...
 

Protected Attributes

int error
 Latest error, initialized to E_NOERROR in constructor. More...
 

Detailed Description

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

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
inherited
Enumerator
E_DEGRADED 

Converged but degraded solution (e.g. WDLS with psuedo-inverse singular)

E_NOERROR 

No error.

E_NO_CONVERGE 

Failed to converge.

E_UNDEFINED 

Undefined value (e.g. computed a NAN, or tan(90 degrees) )

Constructor & Destructor Documentation

◆ ~ChainIkSolverPos()

virtual KDL::ChainIkSolverPos::~ChainIkSolverPos ( )
inlinevirtual

Member Function Documentation

◆ CartToJnt()

virtual int KDL::ChainIkSolverPos::CartToJnt ( const JntArray q_init,
const Frame p_in,
JntArray q_out 
)
pure virtual

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

Parameters
q_initinitial guess of the joint coordinates
p_ininput cartesian coordinates
q_outoutput joint coordinates
Returns
if < 0 something went wrong

Implemented in KDL::ChainIkSolverPos_LMA, KDL::ChainIkSolverPos_NR, and KDL::ChainIkSolverPos_NR_JL.

◆ getError()

virtual int KDL::SolverI::getError ( ) const
inlinevirtualinherited

Return the latest error.

References KDL::SolverI::error.

◆ strError()

virtual const char* KDL::SolverI::strError ( const int  error) const
inlinevirtualinherited

Member Data Documentation

◆ error

int KDL::SolverI::error
protectedinherited

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