KDL::ChainIkSolverVel_pinv Class Reference
[Kinematic Families]

#include <chainiksolvervel_pinv.hpp>

Inheritance diagram for KDL::ChainIkSolverVel_pinv:

[legend]

List of all members.

Public Member Functions
virtual int	CartToJnt (const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)
virtual int	CartToJnt (const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
	ChainIkSolverVel_pinv (const Chain &chain, double eps=0.00001, int maxiter=150)
	~ChainIkSolverVel_pinv ()
Private Attributes
const Chain	chain
double	eps
Jacobian	jac
ChainJntToJacSolver	jnt2jac
int	maxiter
JntArray	S
SVD_HH	svd
JntArray	tmp
std::vector< JntArray >	U
std::vector< JntArray >	V

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Detailed Description

Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain. It uses a svd-calculation based on householders rotations.

Definition at line 40 of file chainiksolvervel_pinv.hpp.

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Constructor & Destructor Documentation

KDL::ChainIkSolverVel_pinv::ChainIkSolverVel_pinv	(	const Chain &	chain,
		double	eps = 0.00001,
		int	maxiter = 150
	)			[explicit]

Constructor of the solver

Parameters:

	chain	the chain to calculate the inverse velocity kinematics for
	eps	if a singular value is below this value, its inverse is set to zero, default: 0.00001
	maxiter	maximum iterations for the svd calculation, default: 150

Definition at line 24 of file chainiksolvervel_pinv.cpp.

KDL::ChainIkSolverVel_pinv::~ChainIkSolverVel_pinv

(

)

Definition at line 38 of file chainiksolvervel_pinv.cpp.

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Member Function Documentation

virtual int KDL::ChainIkSolverVel_pinv::CartToJnt	(	const JntArray &	q_init,
		const FrameVel &	v_in,
		JntArrayVel &	q_out
	)			[inline, virtual]

not (yet) implemented.

Implements KDL::ChainIkSolverVel.

Definition at line 62 of file chainiksolvervel_pinv.hpp.

int KDL::ChainIkSolverVel_pinv::CartToJnt	(	const JntArray &	q_in,
		const Twist &	v_in,
		JntArray &	qdot_out
	)			[virtual]

Calculate inverse velocity kinematics, from joint positions and cartesian velocity to joint velocities.

Parameters:

	q_in	input joint positions
	v_in	input cartesian velocity
	qdot_out	output joint velocities

Returns:

if < 0 something went wrong

Implements KDL::ChainIkSolverVel.

Definition at line 43 of file chainiksolvervel_pinv.cpp.

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Member Data Documentation

const Chain KDL::ChainIkSolverVel_pinv::chain [private]

Definition at line 62 of file chainiksolvervel_pinv.hpp.

double KDL::ChainIkSolverVel_pinv::eps [private]

Definition at line 72 of file chainiksolvervel_pinv.hpp.

Jacobian KDL::ChainIkSolverVel_pinv::jac [private]

Definition at line 66 of file chainiksolvervel_pinv.hpp.

ChainJntToJacSolver KDL::ChainIkSolverVel_pinv::jnt2jac [private]

Definition at line 65 of file chainiksolvervel_pinv.hpp.

int KDL::ChainIkSolverVel_pinv::maxiter [private]

Definition at line 73 of file chainiksolvervel_pinv.hpp.

JntArray KDL::ChainIkSolverVel_pinv::S [private]

Definition at line 69 of file chainiksolvervel_pinv.hpp.

SVD_HH KDL::ChainIkSolverVel_pinv::svd [private]

Definition at line 67 of file chainiksolvervel_pinv.hpp.

JntArray KDL::ChainIkSolverVel_pinv::tmp [private]

Definition at line 71 of file chainiksolvervel_pinv.hpp.

std::vector<JntArray> KDL::ChainIkSolverVel_pinv::U [private]

Definition at line 68 of file chainiksolvervel_pinv.hpp.

std::vector<JntArray> KDL::ChainIkSolverVel_pinv::V [private]

Definition at line 70 of file chainiksolvervel_pinv.hpp.

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

• chainiksolvervel_pinv.hpp
• chainiksolvervel_pinv.cpp