roboticslab::ChainIkSolverPos_ID Class Reference

IK solver using infinitesimal displacement twists. More...

#include <ChainIkSolverPos_ID.hpp>

Inheritance diagram for roboticslab::ChainIkSolverPos_ID:

Public Member Functions
	ChainIkSolverPos_ID (const KDL::Chain &chain, const KDL::JntArray &q_min, const KDL::JntArray &q_max, KDL::ChainFkSolverPos &fksolver)
	Constructor. More...
int	CartToJnt (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out) override
	Calculate inverse position kinematics. More...
void	updateInternalDataStructures () override
	Update the internal data structures. More...
const char *	strError (const int error) const override
	Return a description of the last error. More...

Static Public Attributes
static const int	E_FKSOLVERPOS_FAILED = -100
	Return code, internal FK position solver failed.
static const int	E_JACSOLVER_FAILED = -101
	Return code, internal Jacobian solver failed.

Private Member Functions
KDL::JntArray	computeDiffInvKin (const KDL::Twist &delta_twist)

Private Attributes
const KDL::Chain &	chain
unsigned int	nj
KDL::JntArray	qMin
KDL::JntArray	qMax
KDL::ChainFkSolverPos &	fkSolverPos
KDL::ChainJntToJacSolver	jacSolver
KDL::Jacobian	jacobian

Detailed Description

Re-implementation of KDL::ChainIkSolverPos_NR_JL in which only one iteration step is performed. Aimed to provide a quick means of obtaining IK whenever the displacements are small enough.

Constructor & Destructor Documentation

ChainIkSolverPos_ID()

ChainIkSolverPos_ID::ChainIkSolverPos_ID	(	const KDL::Chain &	chain,
		const KDL::JntArray &	q_min,
		const KDL::JntArray &	q_max,
		KDL::ChainFkSolverPos &	fksolver
	)

Parameters

chain	The chain to calculate the inverse position for.
q_min	The minimum joint positions.
q_max	The maximum joint positions.
fksolver	A forward position kinematics solver.
iksolver	An inverse velocity kinematics solver.

Member Function Documentation

CartToJnt()

int ChainIkSolverPos_ID::CartToJnt ( const KDL::JntArray &  q_init, const KDL::Frame &  p_in, KDL::JntArray &  q_out  )

override

Parameters

q_init	Initial guess of the joint coordinates (unused).
p_in	Input cartesian coordinates.
q_out	Output joint coordinates.

Returns

Return code, E_SOLUTION_NOT_FOUND if there is no solution or E_NOT_REACHABLE if at least one of them is out of reach.

strError()

const char * ChainIkSolverPos_ID::strError ( const int  error ) const

override

Parameters

error

Error code.

Returns

If error is known then a description of error, otherwise "UNKNOWN ERROR".

updateInternalDataStructures()

void ChainIkSolverPos_ID::updateInternalDataStructures ( )

override

Update the internal data structures. This is required if the number of segments or number of joints of a chain has changed. This provides a single point of contact for solver memory allocations.

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

• libraries/YarpPlugins/KdlSolver/ChainIkSolverPos_ID.hpp
• libraries/YarpPlugins/KdlSolver/ChainIkSolverPos_ID.cpp