三、位置级逆运动学求解器(ChainIkSolverPos_NR(牛顿‑拉夫逊法))
1. 整体流程
1.1 迭代代码
chainiksolverpos_nr.cpp /*** 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 co…
2026/7/17 21:27:05