22 #ifndef KDL_CHAIN_IKSOLVER_HPP 23 #define KDL_CHAIN_IKSOLVER_HPP This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition: chainiksolver.hpp:42
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.
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
Solver interface supporting storage and description of the latest error.
Definition: solveri.hpp:84
virtual ~ChainIkSolverAcc()
Definition: chainiksolver.hpp:163
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)=0
Calculate inverse velocity kinematics, from joint positions and cartesian velocity to joint velocitie...
Definition: frameacc.hpp:165
virtual void updateInternalDataStructures()=0
Update the internal data structures.
represents both translational and rotational velocities.
Definition: frames.hpp:720
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 co...
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 accele...
Definition: articulatedbodyinertia.cpp:26
virtual void updateInternalDataStructures()=0
Update the internal data structures.
Definition: jntarrayvel.hpp:45
virtual ~ChainIkSolverPos()
Definition: chainiksolver.hpp:56
virtual void updateInternalDataStructures()=0
Update the internal data structures.
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
This abstract class encapsulates the inverse acceleration solver for a KDL::Chain.
Definition: chainiksolver.hpp:102
Definition: framevel.hpp:212
Definition: jntarrayacc.hpp:49
virtual ~ChainIkSolverVel()
Definition: chainiksolver.hpp:91
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
Definition: chainiksolver.hpp:66