KDL::ChainIkSolverPos_NR_JL Class Reference

Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Chain. More...

#include <src/chainiksolverpos_nr_jl.hpp>

Inheritance diagram for KDL::ChainIkSolverPos_NR_JL:

Collaboration diagram for KDL::ChainIkSolverPos_NR_JL:

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

Public Member Functions
	ChainIkSolverPos_NR_JL (const Chain &chain, const JntArray &q_min, const JntArray &q_max, ChainFkSolverPos &fksolver, ChainIkSolverVel &iksolver, unsigned int maxiter=100, double eps=1e-6)
	Constructor of the solver, it needs the chain, a forward position kinematics solver and an inverse velocity kinematics solver for that chain. More...
	~ChainIkSolverPos_NR_JL ()
virtual int	CartToJnt (const JntArray &q_init, const Frame &p_in, JntArray &q_out)
	Calculate inverse position kinematics, from cartesian coordinates to joint coordinates. More...
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...

Private Attributes
const Chain	chain
JntArray	q_min
JntArray	q_max
ChainIkSolverVel &	iksolver
ChainFkSolverPos &	fksolver
JntArray	delta_q
unsigned int	maxiter
double	eps
Frame	f
Twist	delta_twist

Detailed Description

Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Chain.

Takes joint limits into account.

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

KDL::ChainIkSolverPos_NR_JL::ChainIkSolverPos_NR_JL	(	const Chain &	chain,
		const JntArray &	q_min,
		const JntArray &	q_max,
		ChainFkSolverPos &	fksolver,
		ChainIkSolverVel &	iksolver,
		unsigned int	maxiter = 100,
		double	eps = 1e-6
	)

Constructor of the solver, it needs the chain, a forward position kinematics solver and an inverse velocity kinematics solver for that chain.

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
maxiter	the maximum Newton-Raphson iterations, default: 100
eps	the precision for the position, used to end the iterations, default: epsilon (defined in kdl.hpp)

Returns

KDL::ChainIkSolverPos_NR_JL::~ChainIkSolverPos_NR_JL

(

)

Member Function Documentation

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

virtual

Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.

Parameters

q_init	initial guess of the joint coordinates
p_in	input cartesian coordinates
q_out	output joint coordinates

Returns

if < 0 something went wrong

Implements KDL::ChainIkSolverPos.

References KDL::Add(), KDL::ChainIkSolverVel::CartToJnt(), delta_q, delta_twist, KDL::diff(), eps, KDL::Equal(), f, fksolver, iksolver, KDL::ChainFkSolverPos::JntToCart(), maxiter, q_max, q_min, KDL::JntArray::rows(), and KDL::Twist::Zero().

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

const Chain KDL::ChainIkSolverPos_NR_JL::chain

private

JntArray KDL::ChainIkSolverPos_NR_JL::delta_q

private

Referenced by CartToJnt().

Twist KDL::ChainIkSolverPos_NR_JL::delta_twist

private

Referenced by CartToJnt().

double KDL::ChainIkSolverPos_NR_JL::eps

private

Referenced by CartToJnt().

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().

Frame KDL::ChainIkSolverPos_NR_JL::f

private

Referenced by CartToJnt().

ChainFkSolverPos& KDL::ChainIkSolverPos_NR_JL::fksolver

private

Referenced by CartToJnt().

ChainIkSolverVel& KDL::ChainIkSolverPos_NR_JL::iksolver

private

Referenced by CartToJnt().

unsigned int KDL::ChainIkSolverPos_NR_JL::maxiter

private

Referenced by CartToJnt().

JntArray KDL::ChainIkSolverPos_NR_JL::q_max

private

Referenced by CartToJnt().

JntArray KDL::ChainIkSolverPos_NR_JL::q_min

private

Referenced by CartToJnt().

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

• src/chainiksolverpos_nr_jl.hpp
• src/chainiksolverpos_nr_jl.cpp