public JntArrayVel(JntArray q, JntArray qdot) : this(kdlPINVOKE.new_JntArrayVel__SWIG_2(JntArray.getCPtr(q), JntArray.getCPtr(qdot)), true)
{
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
}
public JntArrayAcc(JntArray q) : this(kdlPINVOKE.new_JntArrayAcc__SWIG_4(JntArray.getCPtr(q)), true)
{
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
}
public ChainIkSolverPos_NR_JL(Chain chain, JntArray q_min, JntArray q_max, ChainFkSolverPos fksolver, ChainIkSolverVel iksolver) : this(kdlPINVOKE.new_ChainIkSolverPos_NR_JL__SWIG_2(Chain.getCPtr(chain), JntArray.getCPtr(q_min), JntArray.getCPtr(q_max), ChainFkSolverPos.getCPtr(fksolver), ChainIkSolverVel.getCPtr(iksolver)), true)
{
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
}
public JntArray(JntArray arg) : this(kdlPINVOKE.new_JntArray__SWIG_2(JntArray.getCPtr(arg)), true)
{
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
}
public void display_jac(JntArray jval)
{
kdlPINVOKE.ChainIkSolverPos_LMA_display_jac(swigCPtr, JntArray.getCPtr(jval));
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
}
public JntArray dderiv()
{
JntArray ret = new JntArray(kdlPINVOKE.JntArrayAcc_dderiv(swigCPtr), true);
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public int setJointLimits(JntArray q_min, JntArray q_max)
{
int ret = kdlPINVOKE.ChainIkSolverPos_NR_JL_setJointLimits(swigCPtr, JntArray.getCPtr(q_min), JntArray.getCPtr(q_max));
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual int JntToJac(JntArray q_in, Jacobian jac)
{
int ret = kdlPINVOKE.ChainJntToJacSolver_JntToJac__SWIG_1(swigCPtr, JntArray.getCPtr(q_in), Jacobian.getCPtr(jac));
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public override int CartToJnt(JntArray q_init, Frame T_base_goal, JntArray q_out)
{
int ret = kdlPINVOKE.ChainIkSolverPos_LMA_CartToJnt(swigCPtr, JntArray.getCPtr(q_init), Frame.getCPtr(T_base_goal), JntArray.getCPtr(q_out));
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual int CartToJnt(JntArray q_in, Twist v_in, JntArray qdot_out)
{
int ret = kdlPINVOKE.ChainIkSolverVel_CartToJnt__SWIG_0(swigCPtr, JntArray.getCPtr(q_in), Twist.getCPtr(v_in), JntArray.getCPtr(qdot_out));
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual int CartTojnt(JntArray q_init, Frame p_in, JntArray qdot_in, Twist a_in, JntArray q_out, JntArray qdotdot_out)
{
int ret = kdlPINVOKE.ChainIkSolverAcc_CartTojnt__SWIG_1(swigCPtr, JntArray.getCPtr(q_init), Frame.getCPtr(p_in), JntArray.getCPtr(qdot_in), Twist.getCPtr(a_in), JntArray.getCPtr(q_out), JntArray.getCPtr(qdotdot_out));
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public override int JntToCart(JntArray q_in, FrameVector p_out)
{
int ret = kdlPINVOKE.ChainFkSolverPos_recursive_JntToCart__SWIG_3(swigCPtr, JntArray.getCPtr(q_in), FrameVector.getCPtr(p_out));
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public override int CartToJnt(JntArray arg0, FrameVel arg1, JntArrayVel arg2)
{
int ret = kdlPINVOKE.ChainIkSolverVel_pinv_CartToJnt__SWIG_1(swigCPtr, JntArray.getCPtr(arg0), FrameVel.getCPtr(arg1), JntArrayVel.getCPtr(arg2));
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual int CartToJnt(JntArray q_init, Frame p_in, JntArray q_out)
{
int ret = kdlPINVOKE.ChainIkSolverPos_CartToJnt(swigCPtr, JntArray.getCPtr(q_init), Frame.getCPtr(p_in), JntArray.getCPtr(q_out));
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public JntArray value()
{
JntArray ret = new JntArray(kdlPINVOKE.JntArrayVel_value(swigCPtr), true);
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual int JntToCart(JntArray q_in, FrameVector p_out, int segmentNr)
{
int ret = kdlPINVOKE.ChainFkSolverPos_JntToCart__SWIG_2(swigCPtr, JntArray.getCPtr(q_in), FrameVector.getCPtr(p_out), segmentNr);
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(JntArray obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
