Public Member Functions | Static Public Attributes | Private Attributes
KDL::ChainIkSolverVel_pinv Class Reference

#include <chainiksolvervel_pinv.hpp>

Inheritance diagram for KDL::ChainIkSolverVel_pinv:
Inheritance graph

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 (const Chain &chain, double eps=0.00001, int maxiter=150)
unsigned int getNrZeroSigmas () const
int getSVDResult () const
virtual const char * strError (const int error) const
 ~ChainIkSolverVel_pinv ()

Static Public Attributes

static const int E_CONVERGE_PINV_SINGULAR = +100
 solution converged but (pseudo)inverse is singular
static const int E_SVD_FAILED = -100

Private Attributes

const Chain chain
double eps
Jacobian jac
ChainJntToJacSolver jnt2jac
int maxiter
unsigned int nrZeroSigmas
JntArray S
SVD_HH svd
int svdResult
JntArray tmp
std::vector< JntArrayU
std::vector< JntArrayV

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.

Constructor & Destructor Documentation

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

Constructor of the solver

chainthe chain to calculate the inverse velocity kinematics for
epsif a singular value is below this value, its inverse is set to zero, default: 0.00001
maxitermaximum iterations for the svd calculation, default: 150

Definition at line 26 of file chainiksolvervel_pinv.cpp.

Definition at line 42 of file chainiksolvervel_pinv.cpp.

Member Function Documentation

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

Find an output joint velocity qdot_out, given a starting joint pose q_init and a desired cartesian velocity v_in

E_NOERROR=solution converged to <eps in maxiter E_SVD_FAILED=SVD computation failed E_CONVERGE_PINV_SINGULAR=solution converged but (pseudo)inverse is singular
if E_CONVERGE_PINV_SINGULAR returned then converged and can continue motion, but have degraded solution
If E_SVD_FAILED returned, then getSvdResult() returns the error code from the SVD algorithm.

Implements KDL::ChainIkSolverVel.

Definition at line 47 of file chainiksolvervel_pinv.cpp.

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 81 of file chainiksolvervel_pinv.hpp.

unsigned int KDL::ChainIkSolverVel_pinv::getNrZeroSigmas ( ) const [inline]

Retrieve the number of singular values of the jacobian that are < eps; if the number of near zero singular values is > jac.col()-jac.row(), then the jacobian pseudoinverse is singular

Definition at line 88 of file chainiksolvervel_pinv.hpp.

Retrieve the latest return code from the SVD algorithm

0 if CartToJnt() not yet called, otherwise latest SVD result code.

Definition at line 94 of file chainiksolvervel_pinv.hpp.

const char * KDL::ChainIkSolverVel_pinv::strError ( const int  error) const [virtual]

Return a description of the latest error

if error is known then a description of error, otherwise "UNKNOWN ERROR"

Reimplemented from KDL::SolverI.

Definition at line 110 of file chainiksolvervel_pinv.cpp.

Member Data Documentation

Definition at line 100 of file chainiksolvervel_pinv.hpp.

solution converged but (pseudo)inverse is singular

Child SVD failed

Definition at line 45 of file chainiksolvervel_pinv.hpp.

const int KDL::ChainIkSolverVel_pinv::E_SVD_FAILED = -100 [static]

Definition at line 43 of file chainiksolvervel_pinv.hpp.

Definition at line 108 of file chainiksolvervel_pinv.hpp.

Definition at line 102 of file chainiksolvervel_pinv.hpp.

Definition at line 101 of file chainiksolvervel_pinv.hpp.

Definition at line 109 of file chainiksolvervel_pinv.hpp.

Definition at line 110 of file chainiksolvervel_pinv.hpp.

Definition at line 105 of file chainiksolvervel_pinv.hpp.

Definition at line 103 of file chainiksolvervel_pinv.hpp.

Definition at line 111 of file chainiksolvervel_pinv.hpp.

Definition at line 107 of file chainiksolvervel_pinv.hpp.

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

Definition at line 104 of file chainiksolvervel_pinv.hpp.

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

Definition at line 106 of file chainiksolvervel_pinv.hpp.

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

autogenerated on Wed Aug 26 2015 15:14:15