KDL::ChainIkSolverVel_pinv_nso Class Reference

#include <chainiksolvervel_pinv_nso.hpp>

Inheritance diagram for KDL::ChainIkSolverVel_pinv_nso:

List of all members.

Public Member Functions
virtual int	CartToJnt (const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
virtual int	CartToJnt (const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)
	ChainIkSolverVel_pinv_nso (const Chain &chain, JntArray opt_pos, JntArray weights, double eps=0.00001, int maxiter=150, int alpha=0.25)
	ChainIkSolverVel_pinv_nso (const Chain &chain, double eps=0.00001, int maxiter=150, int alpha=0.25)
virtual int	setAlpha (const int alpha)
virtual int	setOptPos (const JntArray &opt_pos)
virtual int	setWeights (const JntArray &weights)
	~ChainIkSolverVel_pinv_nso ()
Private Attributes
int	alpha
const Chain	chain
double	eps
Jacobian	jac
ChainJntToJacSolver	jnt2jac
int	maxiter
JntArray	opt_pos
JntArray	S
SVD_HH	svd
JntArray	tmp
JntArray	tmp2
std::vector< JntArray >	U
std::vector< JntArray >	V
JntArray	weights

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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.

In case of a redundant robot this solver optimizes the the following criterium: g=0.5*sum(weight*(Desired_joint_positions - actual_joint_positions))^2 as described in A. Liegeois. Automatic supervisory control of the configuration and behavior of multibody mechnisms. IEEE Transactions on Systems, Man, and Cybernetics, 7(12):868–871, 1977

Definition at line 46 of file chainiksolvervel_pinv_nso.hpp.

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Constructor & Destructor Documentation

KDL::ChainIkSolverVel_pinv_nso::ChainIkSolverVel_pinv_nso	(	const Chain &	chain,
		JntArray	opt_pos,
		JntArray	weights,
		double	eps = 0.00001,
		int	maxiter = 150,
		int	alpha = 0.25
	)

Constructor of the solver

Parameters:

chain	the chain to calculate the inverse velocity kinematics for
opt_pos	the desired positions of the chain used by to resolve the redundancy
weights	the weights applied in the joint space
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
alpha	the null-space velocity gain

Definition at line 26 of file chainiksolvervel_pinv_nso.cpp.

KDL::ChainIkSolverVel_pinv_nso::ChainIkSolverVel_pinv_nso	(	const Chain &	chain,
		double	eps = 0.00001,
		int	maxiter = 150,
		int	alpha = 0.25
	)		[explicit]

Definition at line 44 of file chainiksolvervel_pinv_nso.cpp.

KDL::ChainIkSolverVel_pinv_nso::~ChainIkSolverVel_pinv_nso

(

)

Definition at line 60 of file chainiksolvervel_pinv_nso.cpp.

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Member Function Documentation

int KDL::ChainIkSolverVel_pinv_nso::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 65 of file chainiksolvervel_pinv_nso.cpp.

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

not (yet) implemented.

Implements KDL::ChainIkSolverVel.

Definition at line 72 of file chainiksolvervel_pinv_nso.hpp.

int KDL::ChainIkSolverVel_pinv_nso::setAlpha

(

const int

alpha

)

[virtual]

Set null psace velocity gain

Parameters:

alpha

NUllspace velocity cgain

Definition at line 139 of file chainiksolvervel_pinv_nso.cpp.

int KDL::ChainIkSolverVel_pinv_nso::setOptPos

(

const JntArray &

opt_pos

)

[virtual]

Set optimal joint positions

Parameters:

opt_pos

optimal joint positions

Definition at line 134 of file chainiksolvervel_pinv_nso.cpp.

int KDL::ChainIkSolverVel_pinv_nso::setWeights

(

const JntArray &

weights

)

[virtual]

Set joint weights for optimization criterion

Parameters:

weights

the joint weights

Definition at line 129 of file chainiksolvervel_pinv_nso.cpp.

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Member Data Documentation

int KDL::ChainIkSolverVel_pinv_nso::alpha [private]

Definition at line 112 of file chainiksolvervel_pinv_nso.hpp.

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

Definition at line 100 of file chainiksolvervel_pinv_nso.hpp.

double KDL::ChainIkSolverVel_pinv_nso::eps [private]

Definition at line 109 of file chainiksolvervel_pinv_nso.hpp.

Jacobian KDL::ChainIkSolverVel_pinv_nso::jac [private]

Definition at line 102 of file chainiksolvervel_pinv_nso.hpp.

ChainJntToJacSolver KDL::ChainIkSolverVel_pinv_nso::jnt2jac [private]

Definition at line 101 of file chainiksolvervel_pinv_nso.hpp.

int KDL::ChainIkSolverVel_pinv_nso::maxiter [private]

Definition at line 110 of file chainiksolvervel_pinv_nso.hpp.

JntArray KDL::ChainIkSolverVel_pinv_nso::opt_pos [private]

Definition at line 114 of file chainiksolvervel_pinv_nso.hpp.

JntArray KDL::ChainIkSolverVel_pinv_nso::S [private]

Definition at line 105 of file chainiksolvervel_pinv_nso.hpp.

SVD_HH KDL::ChainIkSolverVel_pinv_nso::svd [private]

Definition at line 103 of file chainiksolvervel_pinv_nso.hpp.

JntArray KDL::ChainIkSolverVel_pinv_nso::tmp [private]

Definition at line 107 of file chainiksolvervel_pinv_nso.hpp.

JntArray KDL::ChainIkSolverVel_pinv_nso::tmp2 [private]

Definition at line 108 of file chainiksolvervel_pinv_nso.hpp.

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

Definition at line 104 of file chainiksolvervel_pinv_nso.hpp.

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

Definition at line 106 of file chainiksolvervel_pinv_nso.hpp.

JntArray KDL::ChainIkSolverVel_pinv_nso::weights [private]

Definition at line 113 of file chainiksolvervel_pinv_nso.hpp.

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

• chainiksolvervel_pinv_nso.hpp
• chainiksolvervel_pinv_nso.cpp