#include <chainiksolvervel_pinv_nso.hpp>
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, double alpha=0.25) | |
ChainIkSolverVel_pinv_nso (const Chain &chain, double eps=0.00001, int maxiter=150, double alpha=0.25) | |
virtual int | setAlpha (const double alpha) |
virtual int | setOptPos (const JntArray &opt_pos) |
virtual int | setWeights (const JntArray &weights) |
~ChainIkSolverVel_pinv_nso () | |
Private Attributes | |
double | alpha |
const Chain | chain |
double | eps |
Jacobian | jac |
ChainJntToJacSolver | jnt2jac |
int | maxiter |
unsigned int | nj |
JntArray | opt_pos |
Eigen::VectorXd | S |
Eigen::VectorXd | Sinv |
Eigen::VectorXd | tmp |
Eigen::VectorXd | tmp2 |
Eigen::MatrixXd | U |
Eigen::MatrixXd | V |
JntArray | weights |
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.
KDL::ChainIkSolverVel_pinv_nso::ChainIkSolverVel_pinv_nso | ( | const Chain & | chain, |
JntArray | opt_pos, | ||
JntArray | weights, | ||
double | eps = 0.00001 , |
||
int | maxiter = 150 , |
||
double | alpha = 0.25 |
||
) |
Constructor of the solver
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 27 of file chainiksolvervel_pinv_nso.cpp.
KDL::ChainIkSolverVel_pinv_nso::ChainIkSolverVel_pinv_nso | ( | const Chain & | chain, |
double | eps = 0.00001 , |
||
int | maxiter = 150 , |
||
double | alpha = 0.25 |
||
) | [explicit] |
Definition at line 46 of file chainiksolvervel_pinv_nso.cpp.
Definition at line 63 of file chainiksolvervel_pinv_nso.cpp.
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.
q_in | input joint positions |
v_in | input cartesian velocity |
qdot_out | output joint velocities |
Implements KDL::ChainIkSolverVel.
Definition at line 68 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 double | alpha | ) | [virtual] |
Set null psace velocity gain
alpha | NUllspace velocity cgain |
Definition at line 156 of file chainiksolvervel_pinv_nso.cpp.
int KDL::ChainIkSolverVel_pinv_nso::setOptPos | ( | const JntArray & | opt_pos | ) | [virtual] |
Set optimal joint positions
opt_pos | optimal joint positions |
Definition at line 150 of file chainiksolvervel_pinv_nso.cpp.
int KDL::ChainIkSolverVel_pinv_nso::setWeights | ( | const JntArray & | weights | ) | [virtual] |
Set joint weights for optimization criterion
weights | the joint weights |
Definition at line 144 of file chainiksolvervel_pinv_nso.cpp.
double 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 99 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.
Definition at line 100 of file chainiksolvervel_pinv_nso.hpp.
int KDL::ChainIkSolverVel_pinv_nso::maxiter [private] |
Definition at line 110 of file chainiksolvervel_pinv_nso.hpp.
unsigned int KDL::ChainIkSolverVel_pinv_nso::nj [private] |
Definition at line 101 of file chainiksolvervel_pinv_nso.hpp.
Definition at line 114 of file chainiksolvervel_pinv_nso.hpp.
Eigen::VectorXd KDL::ChainIkSolverVel_pinv_nso::S [private] |
Definition at line 104 of file chainiksolvervel_pinv_nso.hpp.
Eigen::VectorXd KDL::ChainIkSolverVel_pinv_nso::Sinv [private] |
Definition at line 105 of file chainiksolvervel_pinv_nso.hpp.
Eigen::VectorXd KDL::ChainIkSolverVel_pinv_nso::tmp [private] |
Definition at line 107 of file chainiksolvervel_pinv_nso.hpp.
Eigen::VectorXd KDL::ChainIkSolverVel_pinv_nso::tmp2 [private] |
Definition at line 108 of file chainiksolvervel_pinv_nso.hpp.
Eigen::MatrixXd KDL::ChainIkSolverVel_pinv_nso::U [private] |
Definition at line 103 of file chainiksolvervel_pinv_nso.hpp.
Eigen::MatrixXd KDL::ChainIkSolverVel_pinv_nso::V [private] |
Definition at line 106 of file chainiksolvervel_pinv_nso.hpp.
Definition at line 113 of file chainiksolvervel_pinv_nso.hpp.