KDL::ChainIkSolverAcc Class Reference

This abstract class encapsulates the inverse acceleration solver for a KDL::Chain. More...

#include <src/chainiksolver.hpp>

Inheritance diagram for KDL::ChainIkSolverAcc:

Collaboration diagram for KDL::ChainIkSolverAcc:

Public Types
enum	{ E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2 }

Public Member Functions
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 acceleration to joint accelerations. More...
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 coordinates. More...
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 and acceleration to joint velocities and accelerations. More...
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 and acceleration to joint positions and accelerations. More...
virtual	~ChainIkSolverAcc ()
virtual int	getError () const
	Return the latest error. More...
virtual const char *	strError (const int error) const
	Return a description of the latest error. More...

Protected Attributes
int	error
	Latest error, initialized to E_NOERROR in constructor. More...

Detailed Description

This abstract class encapsulates the inverse acceleration solver for a KDL::Chain.

Member Enumeration Documentation

anonymous enum

inherited

Enumerator
E_DEGRADED	Converged but degraded solution (e.g. WDLS with psuedo-inverse singular)
E_NOERROR	No error.
E_NO_CONVERGE	Failed to converge.
E_UNDEFINED	Undefined value (e.g. computed a NAN, or tan(90 degrees) )

Constructor & Destructor Documentation

virtual KDL::ChainIkSolverAcc::~ChainIkSolverAcc ( )

inlinevirtual

Member Function Documentation

virtual int KDL::ChainIkSolverAcc::CartToJnt ( const JntArray &  q_in, const JntArray &  qdot_in, const Twist  a_in, JntArray &  qdotdot_out  )

pure virtual

Calculate inverse acceleration kinematics from joint positions, joint velocities and cartesian acceleration to joint accelerations.

Parameters

q_in	input joint positions
qdot_in	input joint velocities
a_in	input cartesian acceleration
qdotdot_out	output joint accelerations

Returns

if < 0 something went wrong

virtual int KDL::ChainIkSolverAcc::CartTojnt ( const JntArray &  q_init, const FrameAcc &  a_in, JntArrayAcc &  q_out  )

pure virtual

Calculate inverse position, velocity and acceration kinematics from cartesian coordinates to joint coordinates.

Parameters

q_init	initial guess for joint positions
a_in	input cartesian position, velocity and acceleration
q_out	output joint position, velocity and acceleration

Returns

if < 0 something went wrong

virtual int KDL::ChainIkSolverAcc::CartToJnt ( const JntArray &  q_in, const Twist &  v_in, const Twist &  a_in, JntArray &  qdot_out, JntArray &  qdotdot_out  )

pure virtual

Calculate inverse velocity and acceleration kinematics from joint positions and cartesian velocity and acceleration to joint velocities and accelerations.

Parameters

q_in	input joint positions
v_in	input cartesian velocity
a_in	input cartesian acceleration
qdot_out	output joint velocities
qdotdot_out	output joint accelerations

Returns

if < 0 something went wrong

virtual int KDL::ChainIkSolverAcc::CartTojnt ( const JntArray &  q_init, const Frame &  p_in, const JntArray &  qdot_in, const Twist &  a_in, JntArray &  q_out, JntArray &  qdotdot_out  )

pure virtual

Calculate inverse position and acceleration kinematics from joint velocities and cartesian position and acceleration to joint positions and accelerations.

Parameters

q_init	initial guess for joint positions
p_in	input cartesian position
qdot_in	input joint velocities
a_in	input cartesian acceleration
q_out	output joint positions
qdotdot_out	output joint accelerations

Returns

if < 0 something went wrong

virtual int KDL::SolverI::getError ( ) const

inlinevirtualinherited

Return the latest error.

References KDL::SolverI::error.

virtual const char* KDL::SolverI::strError ( const int  error ) const

inlinevirtualinherited

Return a description of the latest error.

Returns

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

Reimplemented in KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverVel_pinv, KDL::ChainIkSolverPos_NR, and KDL::ChainJntToJacSolver.

References KDL::SolverI::E_NO_CONVERGE, and KDL::SolverI::E_NOERROR.

Referenced by KDL::ChainJntToJacSolver::strError(), KDL::ChainIkSolverPos_NR::strError(), KDL::ChainIkSolverVel_pinv::strError(), and KDL::ChainIkSolverVel_wdls::strError().

Member Data Documentation

int KDL::SolverI::error

protectedinherited

Latest error, initialized to E_NOERROR in constructor.

Referenced by KDL::ChainIkSolverPos_NR::CartToJnt(), KDL::ChainIkSolverVel_pinv::CartToJnt(), KDL::ChainIkSolverVel_wdls::CartToJnt(), KDL::SolverI::getError(), KDL::ChainIkSolverVel_pinv::getSVDResult(), KDL::ChainIkSolverVel_wdls::getSVDResult(), and KDL::ChainJntToJacSolver::JntToJac().

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

• src/chainiksolver.hpp