24#ifndef KDLTREEIKSOLVERPOS_NR_JL_HPP
25#define KDLTREEIKSOLVERPOS_NR_JL_HPP
Definition jntarray.hpp:70
Definition treefksolver.hpp:45
Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations ...
Definition treeiksolverpos_nr_jl.hpp:42
Twists delta_twists
Definition treeiksolverpos_nr_jl.hpp:75
virtual double CartToJnt(const JntArray &q_init, const Frames &p_in, JntArray &q_out)
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
Definition treeiksolverpos_nr_jl.cpp:42
JntArray delta_q
Definition treeiksolverpos_nr_jl.hpp:73
unsigned int maxiter
Definition treeiksolverpos_nr_jl.hpp:78
Frames frames
Definition treeiksolverpos_nr_jl.hpp:74
std::vector< std::string > endpoints
Definition treeiksolverpos_nr_jl.hpp:76
double eps
Definition treeiksolverpos_nr_jl.hpp:79
~TreeIkSolverPos_NR_JL()
Definition treeiksolverpos_nr_jl.cpp:79
const Tree tree
Definition treeiksolverpos_nr_jl.hpp:68
JntArray q_min
Definition treeiksolverpos_nr_jl.hpp:69
JntArray q_max
Definition treeiksolverpos_nr_jl.hpp:70
TreeFkSolverPos & fksolver
Definition treeiksolverpos_nr_jl.hpp:72
TreeIkSolverVel & iksolver
Definition treeiksolverpos_nr_jl.hpp:71
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition treeiksolver.hpp:28
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
Definition treeiksolver.hpp:54
This class encapsulates a tree kinematic interconnection structure.
Definition tree.hpp:100
Definition articulatedbodyinertia.cpp:26
std::map< std::string, Frame > Frames
Definition treeiksolver.hpp:20
std::map< std::string, Twist > Twists
Definition treeiksolver.hpp:18