#include <treeiksolvervel_wdls.hpp>
Public Member Functions | |
virtual double | CartToJnt (const JntArray &q_in, const Twists &v_in, JntArray &qdot_out) |
double | getLambda () const |
const MatrixXd & | getWeightJS () const |
const MatrixXd & | getWeightTS () const |
void | setLambda (const double &lambda) |
void | setWeightJS (const MatrixXd &Mq) |
void | setWeightTS (const MatrixXd &Mx) |
TreeIkSolverVel_wdls (const Tree &tree, const std::vector< std::string > &endpoints) | |
Child SVD failed. | |
virtual | ~TreeIkSolverVel_wdls () |
Static Public Attributes | |
static const int | E_SVD_FAILED = -100 |
Private Attributes | |
MatrixXd | J |
MatrixXd | J_Wq |
Jacobians | jacobians |
TreeJntToJacSolver | jnttojacsolver |
double | lambda |
VectorXd | qdot |
VectorXd | S |
VectorXd | t |
VectorXd | tmp |
Tree | tree |
MatrixXd | U |
MatrixXd | V |
MatrixXd | Wq |
MatrixXd | Wq_V |
MatrixXd | Wy |
MatrixXd | Wy_J_Wq |
VectorXd | Wy_t |
MatrixXd | Wy_U |
Definition at line 19 of file treeiksolvervel_wdls.hpp.
KDL::TreeIkSolverVel_wdls::TreeIkSolverVel_wdls | ( | const Tree & | tree, |
const std::vector< std::string > & | endpoints | ||
) |
Child SVD failed.
Definition at line 14 of file treeiksolvervel_wdls.cpp.
KDL::TreeIkSolverVel_wdls::~TreeIkSolverVel_wdls | ( | ) | [virtual] |
Definition at line 35 of file treeiksolvervel_wdls.cpp.
double KDL::TreeIkSolverVel_wdls::CartToJnt | ( | const JntArray & | q_in, |
const Twists & | v_in, | ||
JntArray & | qdot_out | ||
) | [virtual] |
Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocities.
q_in | input joint positions |
v_in | input cartesian velocity |
qdot_out | output joint velocities |
Implements KDL::TreeIkSolverVel.
Definition at line 50 of file treeiksolvervel_wdls.cpp.
double KDL::TreeIkSolverVel_wdls::getLambda | ( | ) | const [inline] |
Definition at line 80 of file treeiksolvervel_wdls.hpp.
const MatrixXd& KDL::TreeIkSolverVel_wdls::getWeightJS | ( | ) | const [inline] |
Definition at line 51 of file treeiksolvervel_wdls.hpp.
const MatrixXd& KDL::TreeIkSolverVel_wdls::getWeightTS | ( | ) | const [inline] |
Definition at line 77 of file treeiksolvervel_wdls.hpp.
void KDL::TreeIkSolverVel_wdls::setLambda | ( | const double & | lambda | ) |
Definition at line 46 of file treeiksolvervel_wdls.cpp.
void KDL::TreeIkSolverVel_wdls::setWeightJS | ( | const MatrixXd & | Mq | ) |
Definition at line 38 of file treeiksolvervel_wdls.cpp.
void KDL::TreeIkSolverVel_wdls::setWeightTS | ( | const MatrixXd & | Mx | ) |
Definition at line 42 of file treeiksolvervel_wdls.cpp.
const int KDL::TreeIkSolverVel_wdls::E_SVD_FAILED = -100 [static] |
Definition at line 21 of file treeiksolvervel_wdls.hpp.
MatrixXd KDL::TreeIkSolverVel_wdls::J [private] |
Definition at line 87 of file treeiksolvervel_wdls.hpp.
MatrixXd KDL::TreeIkSolverVel_wdls::J_Wq [private] |
Definition at line 87 of file treeiksolvervel_wdls.hpp.
Definition at line 85 of file treeiksolvervel_wdls.hpp.
Definition at line 84 of file treeiksolvervel_wdls.hpp.
double KDL::TreeIkSolverVel_wdls::lambda [private] |
Definition at line 89 of file treeiksolvervel_wdls.hpp.
VectorXd KDL::TreeIkSolverVel_wdls::qdot [private] |
Definition at line 88 of file treeiksolvervel_wdls.hpp.
VectorXd KDL::TreeIkSolverVel_wdls::S [private] |
Definition at line 88 of file treeiksolvervel_wdls.hpp.
VectorXd KDL::TreeIkSolverVel_wdls::t [private] |
Definition at line 88 of file treeiksolvervel_wdls.hpp.
VectorXd KDL::TreeIkSolverVel_wdls::tmp [private] |
Definition at line 88 of file treeiksolvervel_wdls.hpp.
Tree KDL::TreeIkSolverVel_wdls::tree [private] |
Definition at line 83 of file treeiksolvervel_wdls.hpp.
MatrixXd KDL::TreeIkSolverVel_wdls::U [private] |
Definition at line 87 of file treeiksolvervel_wdls.hpp.
MatrixXd KDL::TreeIkSolverVel_wdls::V [private] |
Definition at line 87 of file treeiksolvervel_wdls.hpp.
MatrixXd KDL::TreeIkSolverVel_wdls::Wq [private] |
Definition at line 87 of file treeiksolvervel_wdls.hpp.
MatrixXd KDL::TreeIkSolverVel_wdls::Wq_V [private] |
Definition at line 87 of file treeiksolvervel_wdls.hpp.
MatrixXd KDL::TreeIkSolverVel_wdls::Wy [private] |
Definition at line 87 of file treeiksolvervel_wdls.hpp.
MatrixXd KDL::TreeIkSolverVel_wdls::Wy_J_Wq [private] |
Definition at line 87 of file treeiksolvervel_wdls.hpp.
VectorXd KDL::TreeIkSolverVel_wdls::Wy_t [private] |
Definition at line 88 of file treeiksolvervel_wdls.hpp.
MatrixXd KDL::TreeIkSolverVel_wdls::Wy_U [private] |
Definition at line 87 of file treeiksolvervel_wdls.hpp.