22 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_HPP 23 #define KDL_CHAIN_IKSOLVERVEL_PINV_HPP 106 std::vector<JntArray>
U;
108 std::vector<JntArray>
V;
std::vector< JntArray > V
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
This class represents an fixed size array containing joint values of a KDL::Chain.
virtual int CartToJnt(const JntArray &, const FrameVel &, JntArrayVel &)
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
ChainJntToJacSolver jnt2jac
ChainIkSolverVel_pinv(const Chain &chain, double eps=0.00001, int maxiter=150)
unsigned int getNrZeroSigmas() const
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
virtual void updateInternalDataStructures()
represents both translational and rotational velocities.
static const int E_CONVERGE_PINV_SINGULAR
solution converged but (pseudo)inverse is singular
unsigned int nrZeroSigmas
std::vector< JntArray > U
virtual const char * strError(const int error) const
int error
Latest error, initialized to E_NOERROR in constructor.
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.