#include <chainiksolvervel_pinv_givens.hpp>

Inheritance diagram for KDL::ChainIkSolverVel_pinv_givens:

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_givens (const Chain &chain)
virtual void	updateInternalDataStructures ()
	~ChainIkSolverVel_pinv_givens ()
Private Attributes
MatrixXd	B
const Chain &	chain
Jacobian	jac
MatrixXd	jac_eigen
ChainJntToJacSolver	jnt2jac
unsigned int	m
unsigned int	n
unsigned int	nj
VectorXd	qdot_eigen
VectorXd	S
VectorXd	SUY
VectorXd	tempi
VectorXd	tempj
bool	toggle
bool	transpose
MatrixXd	U
VectorXd	UY
MatrixXd	V
VectorXd	v_in_eigen

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 24 of file chainiksolvervel_pinv_givens.hpp.

Constructor & Destructor Documentation

KDL::ChainIkSolverVel_pinv_givens::ChainIkSolverVel_pinv_givens ( const Chain & chain ) [explicit]

Constructor of the solver

Parameters:

chain	the chain to calculate the inverse velocity kinematics for
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

Definition at line 27 of file chainiksolvervel_pinv_givens.cpp.

KDL::ChainIkSolverVel_pinv_givens::~ChainIkSolverVel_pinv_givens ( )

Definition at line 67 of file chainiksolvervel_pinv_givens.cpp.

Member Function Documentation

int KDL::ChainIkSolverVel_pinv_givens::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.

Parameters:

q_in	input joint positions
v_in	input cartesian velocity
qdot_out	output joint velocities

Returns:: if < 0 something went wrong

Implements KDL::ChainIkSolverVel.

Definition at line 72 of file chainiksolvervel_pinv_givens.cpp.

virtual int KDL::ChainIkSolverVel_pinv_givens::CartToJnt	(	const JntArray &	q_init,
		const FrameVel &	v_in,
		JntArrayVel &	q_out
	)		`[inline, virtual]`

not (yet) implemented.

Implements KDL::ChainIkSolverVel.

Definition at line 47 of file chainiksolvervel_pinv_givens.hpp.

void KDL::ChainIkSolverVel_pinv_givens::updateInternalDataStructures ( ) [virtual]

Update the internal data structures. This is required if the number of segments or number of joints of a chain/tree have changed. This provides a single point of contact for solver memory allocations.

Implements KDL::ChainIkSolverVel.

Definition at line 49 of file chainiksolvervel_pinv_givens.cpp.