KDL 1.5.1
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chainiksolver.hpp
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1// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2
3// Version: 1.0
4// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6// URL: http://www.orocos.org/kdl
7
8// This library is free software; you can redistribute it and/or
9// modify it under the terms of the GNU Lesser General Public
10// License as published by the Free Software Foundation; either
11// version 2.1 of the License, or (at your option) any later version.
12
13// This library is distributed in the hope that it will be useful,
14// but WITHOUT ANY WARRANTY; without even the implied warranty of
15// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16// Lesser General Public License for more details.
17
18// You should have received a copy of the GNU Lesser General Public
19// License along with this library; if not, write to the Free Software
20// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21
22#ifndef KDL_CHAIN_IKSOLVER_HPP
23#define KDL_CHAIN_IKSOLVER_HPP
24
25#include "chain.hpp"
26#include "frames.hpp"
27#include "framevel.hpp"
28#include "frameacc.hpp"
29#include "jntarray.hpp"
30#include "jntarrayvel.hpp"
31#include "jntarrayacc.hpp"
32#include "solveri.hpp"
33
34namespace KDL {
35
43 public:
54 virtual int CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out)=0;
55
56 virtual ~ChainIkSolverPos(){};
58 };
59
67 public:
78 virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out)=0;
89 virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out)=0;
90
91 virtual ~ChainIkSolverVel(){};
93 };
94
103 public:
115 virtual int CartToJnt(const JntArray& q_in, const JntArray& qdot_in, const Twist a_in,
116 JntArray& qdotdot_out)=0;
127 virtual int CartTojnt(const JntArray& q_init, const FrameAcc& a_in,
128 JntArrayAcc& q_out)=0;
129
143 virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, const Twist& a_in,
144 JntArray& qdot_out, JntArray& qdotdot_out)=0;
159 virtual int CartTojnt(const JntArray& q_init, const Frame& p_in, const JntArray& qdot_in, const Twist& a_in,
160 JntArray& q_out, JntArray& qdotdot_out)=0;
161
163 virtual ~ChainIkSolverAcc(){};
164 };
165
166
167}//end of namespace KDL
168
169#endif
Definition chainiksolver.hpp:102
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...
virtual ~ChainIkSolverAcc()
Definition chainiksolver.hpp:163
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, const Twist &a_in, JntArray &qdot_out, JntArray &qdotdot_out)=0
Calculate inverse velocity and acceleration kinematics from joint positions and cartesian velocity an...
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_init, const Frame &p_in, const JntArray &qdot_in, const Twist &a_in, JntArray &q_out, JntArray &qdotdot_out)=0
Calculate inverse position and acceleration kinematics from joint velocities and cartesian position a...
virtual void updateInternalDataStructures()=0
Update the internal data structures.
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.
virtual ~ChainIkSolverPos()
Definition chainiksolver.hpp:56
virtual void updateInternalDataStructures()=0
Update the internal data structures.
Definition chainiksolver.hpp:66
virtual void updateInternalDataStructures()=0
Update the internal data structures.
virtual int CartToJnt(const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)=0
Calculate inverse position and velocity kinematics, from cartesian position and velocity to joint pos...
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...
virtual ~ChainIkSolverVel()
Definition chainiksolver.hpp:91
Definition frameacc.hpp:166
Definition framevel.hpp:219
Definition frames.hpp:570
Definition jntarrayacc.hpp:50
Definition jntarrayvel.hpp:46
Definition jntarray.hpp:70
Solver interface supporting storage and description of the latest error.
Definition solveri.hpp:85
represents both translational and rotational velocities.
Definition frames.hpp:720
Definition articulatedbodyinertia.cpp:26