/usr/include/kdl/chainiksolverpos_nr.hpp is in liborocos-kdl-dev 1.3.0+dfsg-1.
This file is owned by root:root, with mode 0o644.
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// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// Lesser General Public License for more details.
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#ifndef KDLCHAINIKSOLVERPOS_NR_HPP
#define KDLCHAINIKSOLVERPOS_NR_HPP
#include "chainiksolver.hpp"
#include "chainfksolver.hpp"
namespace KDL {
/**
* 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.
*
* @ingroup KinematicFamily
*/
class ChainIkSolverPos_NR : public ChainIkSolverPos
{
public:
static const int E_IKSOLVER_FAILED = -100; //! Child IK solver failed
/**
* Constructor of the solver, it needs the chain, a forward
* position kinematics solver and an inverse velocity
* kinematics solver for that chain.
*
* @param chain the chain to calculate the inverse position for
* @param fksolver a forward position kinematics solver
* @param iksolver an inverse velocity kinematics solver
* @param maxiter the maximum Newton-Raphson iterations,
* default: 100
* @param eps the precision for the position, used to end the
* iterations, default: epsilon (defined in kdl.hpp)
*
* @return
*/
ChainIkSolverPos_NR(const Chain& chain,ChainFkSolverPos& fksolver,ChainIkSolverVel& iksolver,
unsigned int maxiter=100,double eps=1e-6);
~ChainIkSolverPos_NR();
/**
* Find an output joint pose \a q_out, given a starting joint pose
* \a q_init and a desired cartesian pose \a p_in
*
* @return:
* E_NOERROR=solution converged to <eps in maxiter
* E_DEGRADED=solution converged to <eps in maxiter, but solution is
* degraded in quality (e.g. pseudo-inverse in iksolver is singular)
* E_IKSOLVER_FAILED=velocity solver failed
* E_NO_CONVERGE=solution did not converge (e.g. large displacement, low iterations)
*/
virtual int CartToJnt(const JntArray& q_init, const Frame& p_in, JntArray& q_out);
/// @copydoc KDL::SolverI::strError()
virtual const char* strError(const int error) const;
private:
const Chain chain;
ChainIkSolverVel& iksolver;
ChainFkSolverPos& fksolver;
JntArray delta_q;
Frame f;
Twist delta_twist;
unsigned int maxiter;
double eps;
};
}
#endif
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