chainiksolvervel_wdls.hpp
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00001 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 #ifndef KDL_CHAIN_IKSOLVERVEL_WDLS_HPP
00023 #define KDL_CHAIN_IKSOLVERVEL_WDLS_HPP
00024 
00025 #include "chainiksolver.hpp"
00026 #include "chainjnttojacsolver.hpp"
00027 #include <Eigen/Core>
00028 
00029 namespace KDL
00030 {
00063     class ChainIkSolverVel_wdls : public ChainIkSolverVel
00064     {
00065     public:
00066         static const int E_SVD_FAILED = -100; 
00067 
00068         static const int E_CONVERGE_PINV_SINGULAR = +100;
00069 
00082         explicit ChainIkSolverVel_wdls(const Chain& chain,double eps=0.00001,int maxiter=150);
00083         //=ublas::identity_matrix<double>
00084         ~ChainIkSolverVel_wdls();
00085 
00101         virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
00106         virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out){return -1;};
00107 
00130         void setWeightJS(const Eigen::MatrixXd& Mq);
00131 
00155         void setWeightTS(const Eigen::MatrixXd& Mx);
00156 
00160         void setLambda(const double lambda);
00164         void setEps(const double eps_in);
00168         void setMaxIter(const int maxiter_in);
00169 
00175         unsigned int getNrZeroSigmas()const {return nrZeroSigmas;};
00176 
00180         double getSigmaMin()const {return sigmaMin;};
00181 
00185         double getLambda()const {return lambda;};
00186 
00191         double getLambdaScaled()const {return lambda_scaled;};
00192 
00197         int getSVDResult()const {return svdResult;};
00198 
00200         virtual const char* strError(const int error) const;
00201 
00202     private:
00203         const Chain chain;
00204         ChainJntToJacSolver jnt2jac;
00205         Jacobian jac;
00206         Eigen::MatrixXd U;
00207         Eigen::VectorXd S;
00208         Eigen::MatrixXd V;
00209         double eps;
00210         int maxiter;
00211         Eigen::VectorXd tmp;
00212         Eigen::MatrixXd tmp_jac;
00213         Eigen::MatrixXd tmp_jac_weight1;
00214         Eigen::MatrixXd tmp_jac_weight2;
00215         Eigen::MatrixXd tmp_ts;
00216         Eigen::MatrixXd tmp_js;
00217         Eigen::MatrixXd weight_ts;
00218         Eigen::MatrixXd weight_js;
00219         double lambda;
00220                 double lambda_scaled;
00221                 unsigned int nrZeroSigmas ;
00222                 int svdResult;
00223                 double sigmaMin;
00224     };
00225 }
00226 #endif
00227 


orocos_kdl
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autogenerated on Wed Aug 26 2015 15:14:14