KDL::ChainIkSolverVel_wdls_coupling Class Reference

#include <chainiksolvervel_wdls_coupling.hpp>

Inheritance diagram for KDL::ChainIkSolverVel_wdls_coupling:

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_wdls_coupling (const Chain_coupling &chain, double eps=0.00001, int maxiter=150)
Eigen::MatrixXd	getWeightJS ()
Eigen::MatrixXd	getWeightTS ()
void	setLambda (const double &lambda)
void	setWeightJS (const Eigen::MatrixXd &Mq)
void	setWeightTS (const Eigen::MatrixXd &Mx)
	~ChainIkSolverVel_wdls_coupling ()
Public Member Functions inherited from KDL::ChainIkSolverVel
virtual void	updateInternalDataStructures ()=0
virtual	~ChainIkSolverVel ()
Public Member Functions inherited from KDL::SolverI
virtual int	getError () const
	SolverI ()
virtual const char *	strError (const int error) const
virtual	~SolverI ()

Private Attributes
Chain_coupling	chain
double	eps
Jacobian	jac
ChainJntToJacSolver_coupling	jnt2jac
double	lambda
int	maxiter
Eigen::VectorXd	S
Eigen::VectorXd	tmp
Eigen::MatrixXd	tmp_jac
Eigen::MatrixXd	tmp_jac_weight1
Eigen::MatrixXd	tmp_jac_weight2
Eigen::MatrixXd	tmp_js
Eigen::MatrixXd	tmp_ts
Eigen::MatrixXd	U
Eigen::MatrixXd	V
Eigen::MatrixXd	weight_js
Eigen::MatrixXd	weight_ts

Additional Inherited Members
Public Attributes inherited from KDL::SolverI
	E_DEGRADED
	E_MAX_ITERATIONS_EXCEEDED
	E_NO_CONVERGE
	E_NOERROR
	E_NOT_IMPLEMENTED
	E_NOT_UP_TO_DATE
	E_OUT_OF_RANGE
	E_SIZE_MISMATCH
	E_SVD_FAILED
	E_UNDEFINED
Protected Attributes inherited from KDL::SolverI
int	error

Detailed Description

Definition at line 66 of file chainiksolvervel_wdls_coupling.hpp.

Constructor & Destructor Documentation

KDL::ChainIkSolverVel_wdls_coupling::ChainIkSolverVel_wdls_coupling ( const Chain_coupling &  chain, double  eps = 0.00001, int  maxiter = 150  )

explicit

Definition at line 31 of file chainiksolvervel_wdls_coupling.cpp.

KDL::ChainIkSolverVel_wdls_coupling::~ChainIkSolverVel_wdls_coupling

(

)

Definition at line 53 of file chainiksolvervel_wdls_coupling.cpp.

Member Function Documentation

int KDL::ChainIkSolverVel_wdls_coupling::CartToJnt ( const JntArray &  q_in, const Twist &  v_in, JntArray &  qdot_out  )

virtual

Implements KDL::ChainIkSolverVel.

Definition at line 82 of file chainiksolvervel_wdls_coupling.cpp.

virtual int KDL::ChainIkSolverVel_wdls_coupling::CartToJnt ( const JntArray &  q_init, const FrameVel &  v_in, JntArrayVel &  q_out  )

inlinevirtual

Implements KDL::ChainIkSolverVel.

Definition at line 93 of file chainiksolvervel_wdls_coupling.hpp.

MatrixXd KDL::ChainIkSolverVel_wdls_coupling::getWeightJS

(

)

Definition at line 62 of file chainiksolvervel_wdls_coupling.cpp.

MatrixXd KDL::ChainIkSolverVel_wdls_coupling::getWeightTS

(

)

Definition at line 72 of file chainiksolvervel_wdls_coupling.cpp.

void KDL::ChainIkSolverVel_wdls_coupling::setLambda

(

const double &

lambda

)

Definition at line 77 of file chainiksolvervel_wdls_coupling.cpp.

void KDL::ChainIkSolverVel_wdls_coupling::setWeightJS

(

const Eigen::MatrixXd &

Mq

)

Definition at line 57 of file chainiksolvervel_wdls_coupling.cpp.

void KDL::ChainIkSolverVel_wdls_coupling::setWeightTS

(

const Eigen::MatrixXd &

Mx

)

Definition at line 67 of file chainiksolvervel_wdls_coupling.cpp.

Member Data Documentation

Chain_coupling KDL::ChainIkSolverVel_wdls_coupling::chain

private

Definition at line 154 of file chainiksolvervel_wdls_coupling.hpp.

double KDL::ChainIkSolverVel_wdls_coupling::eps

private

Definition at line 160 of file chainiksolvervel_wdls_coupling.hpp.

Jacobian KDL::ChainIkSolverVel_wdls_coupling::jac

private

Definition at line 156 of file chainiksolvervel_wdls_coupling.hpp.

ChainJntToJacSolver_coupling KDL::ChainIkSolverVel_wdls_coupling::jnt2jac

private

Definition at line 155 of file chainiksolvervel_wdls_coupling.hpp.

double KDL::ChainIkSolverVel_wdls_coupling::lambda

private

Definition at line 170 of file chainiksolvervel_wdls_coupling.hpp.

int KDL::ChainIkSolverVel_wdls_coupling::maxiter

private

Definition at line 161 of file chainiksolvervel_wdls_coupling.hpp.

Eigen::VectorXd KDL::ChainIkSolverVel_wdls_coupling::S

private

Definition at line 158 of file chainiksolvervel_wdls_coupling.hpp.

Eigen::VectorXd KDL::ChainIkSolverVel_wdls_coupling::tmp

private

Definition at line 162 of file chainiksolvervel_wdls_coupling.hpp.

Eigen::MatrixXd KDL::ChainIkSolverVel_wdls_coupling::tmp_jac

private

Definition at line 163 of file chainiksolvervel_wdls_coupling.hpp.

Eigen::MatrixXd KDL::ChainIkSolverVel_wdls_coupling::tmp_jac_weight1

private

Definition at line 164 of file chainiksolvervel_wdls_coupling.hpp.

Eigen::MatrixXd KDL::ChainIkSolverVel_wdls_coupling::tmp_jac_weight2

private

Definition at line 165 of file chainiksolvervel_wdls_coupling.hpp.

Eigen::MatrixXd KDL::ChainIkSolverVel_wdls_coupling::tmp_js

private

Definition at line 167 of file chainiksolvervel_wdls_coupling.hpp.

Eigen::MatrixXd KDL::ChainIkSolverVel_wdls_coupling::tmp_ts

private

Definition at line 166 of file chainiksolvervel_wdls_coupling.hpp.

Eigen::MatrixXd KDL::ChainIkSolverVel_wdls_coupling::U

private

Definition at line 157 of file chainiksolvervel_wdls_coupling.hpp.

Eigen::MatrixXd KDL::ChainIkSolverVel_wdls_coupling::V

private

Definition at line 159 of file chainiksolvervel_wdls_coupling.hpp.

Eigen::MatrixXd KDL::ChainIkSolverVel_wdls_coupling::weight_js

private

Definition at line 169 of file chainiksolvervel_wdls_coupling.hpp.

Eigen::MatrixXd KDL::ChainIkSolverVel_wdls_coupling::weight_ts

private

Definition at line 168 of file chainiksolvervel_wdls_coupling.hpp.

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

• chainiksolvervel_wdls_coupling.hpp
• chainiksolvervel_wdls_coupling.cpp