24#ifndef KDLCHAINIKSOLVERPOS_NR_JL_HPP
25#define KDLCHAINIKSOLVERPOS_NR_JL_HPP
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain.
Definition chainfksolver.hpp:41
Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations ...
Definition chainiksolverpos_nr_jl.hpp:41
virtual int CartToJnt(const JntArray &q_init, const Frame &p_in, JntArray &q_out)
Calculates the joint values that correspond to the input pose given an initial guess.
Definition chainiksolverpos_nr_jl.cpp:62
JntArray q_min
Definition chainiksolverpos_nr_jl.hpp:114
int setJointLimits(const JntArray &q_min, const JntArray &q_max)
Function to set the joint limits.
Definition chainiksolverpos_nr_jl.cpp:103
ChainIkSolverVel & iksolver
Definition chainiksolverpos_nr_jl.hpp:116
JntArray delta_q
Definition chainiksolverpos_nr_jl.hpp:118
~ChainIkSolverPos_NR_JL()
Definition chainiksolverpos_nr_jl.cpp:111
unsigned int nj
Definition chainiksolverpos_nr_jl.hpp:113
static const int E_FKSOLVERPOS_FAILED
Child IK solver vel failed.
Definition chainiksolverpos_nr_jl.hpp:45
JntArray q_max
Definition chainiksolverpos_nr_jl.hpp:115
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)
Child FK solver failed.
Definition chainiksolverpos_nr_jl.cpp:30
unsigned int maxiter
Definition chainiksolverpos_nr_jl.hpp:119
Twist delta_twist
Definition chainiksolverpos_nr_jl.hpp:123
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition chainiksolverpos_nr_jl.cpp:53
Frame f
Definition chainiksolverpos_nr_jl.hpp:122
const char * strError(const int error) const
Return a description of the latest error.
Definition chainiksolverpos_nr_jl.cpp:115
static const int E_IKSOLVERVEL_FAILED
Definition chainiksolverpos_nr_jl.hpp:44
double eps
Definition chainiksolverpos_nr_jl.hpp:120
const Chain & chain
Definition chainiksolverpos_nr_jl.hpp:112
ChainFkSolverPos & fksolver
Definition chainiksolverpos_nr_jl.hpp:117
Definition chainiksolver.hpp:42
Definition chainiksolver.hpp:66
Definition frames.hpp:570
Definition jntarray.hpp:70
int error
Latest error, initialized to E_NOERROR in constructor.
Definition solveri.hpp:149
represents both translational and rotational velocities.
Definition frames.hpp:720
Definition articulatedbodyinertia.cpp:26