This abstract class encapsulates the inverse acceleration solver for a KDL::Chain.
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#include <src/chainiksolver.hpp>
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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. More...
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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. More...
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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. More...
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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. More...
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virtual | ~ChainIkSolverAcc () |
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virtual int | getError () const |
| Return the latest error. More...
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virtual const char * | strError (const int error) const |
| Return a description of the latest error. More...
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int | error |
| Latest error, initialized to E_NOERROR in constructor. More...
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This abstract class encapsulates the inverse acceleration solver for a KDL::Chain.
Enumerator |
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E_DEGRADED |
Converged but degraded solution (e.g. WDLS with psuedo-inverse singular)
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E_NOERROR |
No error.
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E_NO_CONVERGE |
Failed to converge.
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E_UNDEFINED |
Undefined value (e.g. computed a NAN, or tan(90 degrees) )
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virtual KDL::ChainIkSolverAcc::~ChainIkSolverAcc |
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inlinevirtual |
virtual int KDL::ChainIkSolverAcc::CartToJnt |
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const JntArray & |
q_in, |
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const JntArray & |
qdot_in, |
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const Twist |
a_in, |
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JntArray & |
qdotdot_out |
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pure virtual |
Calculate inverse acceleration kinematics from joint positions, joint velocities and cartesian acceleration to joint accelerations.
- Parameters
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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
virtual int KDL::ChainIkSolverAcc::CartTojnt |
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const JntArray & |
q_init, |
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const FrameAcc & |
a_in, |
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JntArrayAcc & |
q_out |
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pure virtual |
Calculate inverse position, velocity and acceration kinematics from cartesian coordinates to joint coordinates.
- Parameters
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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 |
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const JntArray & |
q_in, |
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const Twist & |
v_in, |
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const Twist & |
a_in, |
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JntArray & |
qdot_out, |
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JntArray & |
qdotdot_out |
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pure virtual |
Calculate inverse velocity and acceleration kinematics from joint positions and cartesian velocity and acceleration to joint velocities and accelerations.
- Parameters
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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 |
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const JntArray & |
q_init, |
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const Frame & |
p_in, |
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const JntArray & |
qdot_in, |
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const Twist & |
a_in, |
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JntArray & |
q_out, |
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JntArray & |
qdotdot_out |
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pure virtual |
Calculate inverse position and acceleration kinematics from joint velocities and cartesian position and acceleration to joint positions and accelerations.
- Parameters
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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::SolverI::getError |
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const |
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inlinevirtualinherited |
virtual const char* KDL::SolverI::strError |
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const int |
error | ) |
const |
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inlinevirtualinherited |
The documentation for this class was generated from the following file: