KDL::TreeIkSolverVel Class Reference

This abstract class encapsulates the inverse velocity solver for a KDL::Tree. More...

#include <src/treeiksolver.hpp>

Inheritance diagram for KDL::TreeIkSolverVel:

Public Member Functions
virtual double	CartToJnt (const JntArray &q_in, const Twists &v_in, JntArray &qdot_out)=0
	Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocities.
virtual	~TreeIkSolverVel ()

Detailed Description

This abstract class encapsulates the inverse velocity solver for a KDL::Tree.

Constructor & Destructor Documentation

~TreeIkSolverVel()

virtual KDL::TreeIkSolverVel::~TreeIkSolverVel ( )

inlinevirtual

Member Function Documentation

CartToJnt()

virtual double KDL::TreeIkSolverVel::CartToJnt ( const JntArray & q_in, const Twists & v_in, JntArray & qdot_out )

pure virtual

Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocities.

Parameters

q_in	input joint positions
v_in	input cartesian velocity
qdot_out	output joint velocities

Returns

if < 0 something went wrong distance to goal otherwise (weighted norm of v_in)

Implemented in KDL::TreeIkSolverVel_wdls.

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

• src/treeiksolver.hpp