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00002
00003 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
00004 #define KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
00005
00006 #include "chainiksolver.hpp"
00007 #include "chainjnttojacsolver.hpp"
00008
00009 #include <Eigen/Core>
00010
00011 using namespace Eigen;
00012
00013 namespace KDL
00014 {
00024 class ChainIkSolverVel_pinv_givens : public ChainIkSolverVel
00025 {
00026 public:
00038 explicit ChainIkSolverVel_pinv_givens(const Chain& chain);
00039 ~ChainIkSolverVel_pinv_givens();
00040
00041 virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
00046 virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out){return -1;};
00047 private:
00048 const Chain chain;
00049 ChainJntToJacSolver jnt2jac;
00050 Jacobian jac;
00051 bool transpose,toggle;
00052 unsigned int m,n;
00053 MatrixXd jac_eigen,U,V,B;
00054 VectorXd S,tempi,tempj,UY,SUY,qdot_eigen,v_in_eigen;
00055 };
00056 }
00057 #endif