22 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP 23 #define KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP virtual int CartToJnt(const JntArray &, const FrameVel &, JntArrayVel &)
~ChainIkSolverVel_pinv_nso()
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
This class represents an fixed size array containing joint values of a KDL::Chain.
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
ChainIkSolverVel_pinv_nso(const Chain &chain, const JntArray &opt_pos, const JntArray &weights, double eps=0.00001, int maxiter=150, double alpha=0.25)
represents both translational and rotational velocities.
virtual int setAlpha(const double alpha)
virtual int setOptPos(const JntArray &opt_pos)
const JntArray & getWeights() const
const double & getAlpha() const
virtual int setWeights(const JntArray &weights)
ChainJntToJacSolver jnt2jac
virtual void updateInternalDataStructures()
const JntArray & getOptPos() const
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.