KDL::TreeIkSolverPos_NR_JL Class Reference

Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Tree. More...

#include <src/treeiksolverpos_nr_jl.hpp>

Inheritance diagram for KDL::TreeIkSolverPos_NR_JL:

Collaboration diagram for KDL::TreeIkSolverPos_NR_JL:

Public Member Functions
	TreeIkSolverPos_NR_JL (const Tree &tree, const std::vector< std::string > &endpoints, const JntArray &q_min, const JntArray &q_max, TreeFkSolverPos &fksolver, TreeIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
	Constructor of the solver, it needs the tree, a forward position kinematics solver and an inverse velocity kinematics solver for that tree, and a list of the segments you are interested in.
	~TreeIkSolverPos_NR_JL ()
virtual double	CartToJnt (const JntArray &q_init, const Frames &p_in, JntArray &q_out)
	Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.

Private Attributes
const Tree	tree
JntArray	q_min
JntArray	q_max
TreeIkSolverVel &	iksolver
TreeFkSolverPos &	fksolver
JntArray	delta_q
Frames	frames
Twists	delta_twists
std::vector< std::string >	endpoints
unsigned int	maxiter
double	eps

Detailed Description

Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Tree.

Takes joint limits into account.

Constructor & Destructor Documentation

TreeIkSolverPos_NR_JL()

KDL::TreeIkSolverPos_NR_JL::TreeIkSolverPos_NR_JL	(	const Tree &	tree,
		const std::vector< std::string > &	endpoints,
		const JntArray &	q_min,
		const JntArray &	q_max,
		TreeFkSolverPos &	fksolver,
		TreeIkSolverVel &	iksolver,
		unsigned int	maxiter = 100,
		double	eps = 1e-6 )

Constructor of the solver, it needs the tree, a forward position kinematics solver and an inverse velocity kinematics solver for that tree, and a list of the segments you are interested in.

Parameters

tree	the tree to calculate the inverse position for
endpoints	the list of endpoints you are interested in.
q_max	the maximum joint positions
q_min	the minimum joint positions
fksolver	a forward position kinematics solver
iksolver	an inverse velocity kinematics solver
maxiter	the maximum Newton-Raphson iterations, default: 100
eps	the precision for the position, used to end the iterations, default: epsilon (defined in kdl.hpp)

Returns

References delta_q, delta_twists, endpoints, eps, fksolver, frames, KDL::Frame::Identity(), iksolver, maxiter, q_max, q_min, tree, and KDL::Twist::Zero().

~TreeIkSolverPos_NR_JL()

KDL::TreeIkSolverPos_NR_JL::~TreeIkSolverPos_NR_JL

(

)

Member Function Documentation

CartToJnt()

double KDL::TreeIkSolverPos_NR_JL::CartToJnt ( const JntArray & q_init, const Frames & p_in, JntArray & q_out )

virtual

Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.

Parameters

q_init	initial guess of the joint coordinates
p_in	input cartesian coordinates
q_out	output joint coordinates

Returns

if < 0 something went wrong otherwise (>=0) remaining (weighted) distance to target

Implements KDL::TreeIkSolverPos.

References KDL::Add(), delta_q, delta_twists, KDL::diff(), eps, fksolver, frames, iksolver, maxiter, q_max, and q_min.

Member Data Documentation

delta_q

JntArray KDL::TreeIkSolverPos_NR_JL::delta_q

private

Referenced by CartToJnt(), and TreeIkSolverPos_NR_JL().

delta_twists

Twists KDL::TreeIkSolverPos_NR_JL::delta_twists

private

Referenced by CartToJnt(), and TreeIkSolverPos_NR_JL().

endpoints

std::vector<std::string> KDL::TreeIkSolverPos_NR_JL::endpoints

private

Referenced by TreeIkSolverPos_NR_JL().

eps

double KDL::TreeIkSolverPos_NR_JL::eps

private

Referenced by CartToJnt(), and TreeIkSolverPos_NR_JL().

fksolver

TreeFkSolverPos& KDL::TreeIkSolverPos_NR_JL::fksolver

private

Referenced by CartToJnt(), and TreeIkSolverPos_NR_JL().

frames

Frames KDL::TreeIkSolverPos_NR_JL::frames

private

Referenced by CartToJnt(), and TreeIkSolverPos_NR_JL().

iksolver

TreeIkSolverVel& KDL::TreeIkSolverPos_NR_JL::iksolver

private

Referenced by CartToJnt(), and TreeIkSolverPos_NR_JL().

maxiter

unsigned int KDL::TreeIkSolverPos_NR_JL::maxiter

private

Referenced by CartToJnt(), and TreeIkSolverPos_NR_JL().

q_max

JntArray KDL::TreeIkSolverPos_NR_JL::q_max

private

Referenced by CartToJnt(), and TreeIkSolverPos_NR_JL().

q_min

JntArray KDL::TreeIkSolverPos_NR_JL::q_min

private

Referenced by CartToJnt(), and TreeIkSolverPos_NR_JL().

tree

const Tree KDL::TreeIkSolverPos_NR_JL::tree

private

Referenced by TreeIkSolverPos_NR_JL().

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

• src/treeiksolverpos_nr_jl.hpp
• src/treeiksolverpos_nr_jl.cpp