22#ifndef KDL_CHAIN_IKSOLVER_HPP
23#define KDL_CHAIN_IKSOLVER_HPP
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