25#ifndef KDLTREEIKSOLVERPOS_ONLINE_HPP
26#define KDLTREEIKSOLVERPOS_ONLINE_HPP
65 const std::vector<std::string>& endpoints,
69 const double x_dot_trans_max,
70 const double x_dot_rot_max,
Definition jntarray.hpp:70
Definition treefksolver.hpp:45
Implementation of a general inverse position kinematics algorithm to calculate the position transform...
Definition treeiksolverpos_online.hpp:44
JntArray q_dot_max_
Definition treeiksolverpos_online.hpp:94
void enforceJointVelLimits()
Scales the class member KDL::JntArray q_dot_, if one (or more) joint velocity exceeds the maximum val...
Definition treeiksolverpos_online.cpp:115
JntArray q_dot_
Definition treeiksolverpos_online.hpp:99
virtual double CartToJnt(const JntArray &q_in, const Frames &p_in, JntArray &q_out)
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
Definition treeiksolverpos_online.cpp:63
Frames frames_
Definition treeiksolverpos_online.hpp:101
double x_dot_trans_max_
Definition treeiksolverpos_online.hpp:95
JntArray q_max_
Definition treeiksolverpos_online.hpp:93
~TreeIkSolverPos_Online()
Definition treeiksolverpos_online.cpp:59
double x_dot_rot_max_
Definition treeiksolverpos_online.hpp:96
TreeIkSolverVel & iksolver_
Definition treeiksolverpos_online.hpp:98
void enforceCartVelLimits()
Scales translational and rotational velocity vectors of the class member KDL::Twist twist_,...
Definition treeiksolverpos_online.cpp:153
JntArray q_min_
Definition treeiksolverpos_online.hpp:92
Twist twist_
Definition treeiksolverpos_online.hpp:100
TreeFkSolverPos & fksolver_
Definition treeiksolverpos_online.hpp:97
Twists delta_twists_
Definition treeiksolverpos_online.hpp:102
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
represents both translational and rotational velocities.
Definition frames.hpp:720
Definition articulatedbodyinertia.cpp:26
std::map< std::string, Frame > Frames
Definition treeiksolver.hpp:20
std::map< std::string, Twist > Twists
Definition treeiksolver.hpp:18