24 #ifndef KDLCHAINIKSOLVERPOS_NR_JL_HPP
25 #define KDLCHAINIKSOLVERPOS_NR_JL_HPP
63 virtual int CartToJnt(
const JntArray& q_init,
const Frame& p_in, JntArray& q_out);
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition: chainiksolver.hpp:42
Twist delta_twist
Definition: chainiksolverpos_nr_jl.hpp:76
This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
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 ve...
Definition: chainiksolverpos_nr_jl.cpp:28
Frame f
Definition: chainiksolverpos_nr_jl.hpp:75
represents both translational and rotational velocities.
Definition: frames.hpp:720
JntArray q_min
Definition: chainiksolverpos_nr_jl.hpp:67
Definition: articulatedbodyinertia.cpp:28
JntArray delta_q
Definition: chainiksolverpos_nr_jl.hpp:71
Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations ...
Definition: chainiksolverpos_nr_jl.hpp:40
ChainIkSolverVel & iksolver
Definition: chainiksolverpos_nr_jl.hpp:69
unsigned int maxiter
Definition: chainiksolverpos_nr_jl.hpp:72
double eps
Definition: chainiksolverpos_nr_jl.hpp:73
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
~ChainIkSolverPos_NR_JL()
Definition: chainiksolverpos_nr_jl.cpp:69
const Chain chain
Definition: chainiksolverpos_nr_jl.hpp:66
ChainFkSolverPos & fksolver
Definition: chainiksolverpos_nr_jl.hpp:70
JntArray q_max
Definition: chainiksolverpos_nr_jl.hpp:68
virtual int CartToJnt(const JntArray &q_init, const Frame &p_in, JntArray &q_out)
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
Definition: chainiksolverpos_nr_jl.cpp:36
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
Definition: chainiksolver.hpp:65
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain...
Definition: chainfksolver.hpp:43