KDL 1.5.1
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Public Types | Public Member Functions | Protected Attributes | List of all members
KDL::TreeIdSolver Class Referenceabstract

This abstract class encapsulates the inverse dynamics solver for a KDL::Tree. More...

#include <src/treeidsolver.hpp>

Inheritance diagram for KDL::TreeIdSolver:
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Collaboration diagram for KDL::TreeIdSolver:
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Public Types

enum  {
  E_DEGRADED = +1 , E_NOERROR = 0 , E_NO_CONVERGE = -1 , E_UNDEFINED = -2 ,
  E_NOT_UP_TO_DATE = -3 , E_SIZE_MISMATCH = -4 , E_MAX_ITERATIONS_EXCEEDED = -5 , E_OUT_OF_RANGE = -6 ,
  E_NOT_IMPLEMENTED = -7 , E_SVD_FAILED = -8
}
 

Public Member Functions

virtual int CartToJnt (const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap &f_ext, JntArray &torques)=0
 Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces to joint torques/forces.
 
virtual int getError () const
 Return the latest error.
 
virtual const char * strError (const int error) const
 Return a description of the latest error.
 
virtual void updateInternalDataStructures ()=0
 Update the internal data structures.
 

Protected Attributes

int error
 Latest error, initialized to E_NOERROR in constructor.
 

Detailed Description

This abstract class encapsulates the inverse dynamics solver for a KDL::Tree.

Member Enumeration Documentation

◆ anonymous enum

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) )

E_NOT_UP_TO_DATE 

Chain size changed.

E_SIZE_MISMATCH 

Input size does not match internal state.

E_MAX_ITERATIONS_EXCEEDED 

Maximum number of iterations exceeded.

E_OUT_OF_RANGE 

Requested index out of range.

E_NOT_IMPLEMENTED 

Not yet implemented.

E_SVD_FAILED 

Internal svd calculation failed.

Member Function Documentation

◆ CartToJnt()

virtual int KDL::TreeIdSolver::CartToJnt ( const JntArray q,
const JntArray q_dot,
const JntArray q_dotdot,
const WrenchMap f_ext,
JntArray torques 
)
pure virtual

Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces to joint torques/forces.

Parameters
qinput joint positions
q_dotinput joint velocities
q_dotdotinput joint accelerations
f_extthe external forces (no gravity) on the segments
torqueoutput joint torques
Returns
if < 0 something went wrong

Implemented in KDL::TreeIdSolver_RNE.

◆ getError()

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

Return the latest error.

References KDL::SolverI::error.

◆ strError()

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

◆ updateInternalDataStructures()

virtual void KDL::SolverI::updateInternalDataStructures ( )
pure virtualinherited

Member Data Documentation

◆ error

int KDL::SolverI::error
protectedinherited

Latest error, initialized to E_NOERROR in constructor.

Referenced by KDL::ChainIkSolverVel_pinv_givens::CartToJnt(), KDL::ChainIdSolver_RNE::CartToJnt(), KDL::TreeIdSolver_RNE::CartToJnt(), KDL::ChainFdSolver_RNE::CartToJnt(), KDL::ChainHdSolver_Vereshchagin::CartToJnt(), KDL::ChainIkSolverVel_pinv::CartToJnt(), KDL::ChainIkSolverVel_pinv_givens::CartToJnt(), KDL::ChainIkSolverVel_pinv_nso::CartToJnt(), KDL::ChainIkSolverVel_wdls::CartToJnt(), KDL::ChainIkSolverPos_NR::CartToJnt(), KDL::ChainIkSolverPos_NR_JL::CartToJnt(), KDL::ChainIkSolverPos_LMA::CartToJnt(), KDL::SolverI::getError(), KDL::ChainIkSolverVel_wdls::getSigma(), KDL::ChainFkSolverPos_recursive::JntToCart(), KDL::ChainFkSolverVel_recursive::JntToCart(), KDL::ChainExternalWrenchEstimator::JntToExtWrench(), KDL::ChainJntToJacSolver::JntToJac(), KDL::ChainJntToJacDotSolver::JntToJacDot(), KDL::ChainJntToJacDotSolver::JntToJacDot(), KDL::ChainDynParam::JntToMass(), KDL::ChainExternalWrenchEstimator::setInitialMomentum(), KDL::ChainIkSolverPos_NR_JL::setJointLimits(), KDL::ChainJntToJacDotSolver::setLockedJoints(), KDL::ChainJntToJacSolver::setLockedJoints(), KDL::ChainIkSolverVel_pinv_nso::setOptPos(), KDL::ChainIkSolverVel_wdls::setWeightJS(), KDL::ChainIkSolverVel_pinv_nso::setWeights(), KDL::ChainIkSolverVel_wdls::setWeightTS(), KDL::ChainExternalWrenchEstimator::strError(), KDL::ChainIkSolverPos_LMA::strError(), KDL::ChainIkSolverPos_NR::strError(), KDL::ChainIkSolverPos_NR_JL::strError(), KDL::ChainIkSolverVel_pinv::strError(), KDL::ChainIkSolverVel_wdls::strError(), KDL::ChainJntToJacDotSolver::strError(), and KDL::SolverI::strError().


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