#include <chainiksolvervel_pinv_givens.hpp>
Public Member Functions | |
virtual int | CartToJnt (const JntArray &q_in, const Twist &v_in, JntArray &qdot_out) |
virtual int | CartToJnt (const JntArray &, const FrameVel &, JntArrayVel &) |
ChainIkSolverVel_pinv_givens (const Chain &chain) | |
virtual void | updateInternalDataStructures () |
~ChainIkSolverVel_pinv_givens () | |
Public Member Functions inherited from KDL::ChainIkSolverVel | |
virtual | ~ChainIkSolverVel () |
Public Member Functions inherited from KDL::SolverI | |
virtual int | getError () const |
Return the latest error. More... | |
SolverI () | |
Initialize latest error to E_NOERROR. More... | |
virtual const char * | strError (const int error) const |
virtual | ~SolverI () |
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 |
bool | toggle |
bool | transpose |
MatrixXd | U |
VectorXd | UY |
MatrixXd | V |
VectorXd | v_in_eigen |
Additional Inherited Members | |
Public Types inherited from KDL::SolverI | |
enum | { E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2, E_NOT_UP_TO_DATE = -3, E_SIZE_MISMATCH = -4, E_MAX_ITERATIONS_EXCEEDED = -5, E_OUT_OF_RANGE = -6, E_NOT_IMPLEMENTED = -7, E_SVD_FAILED = -8 } |
Protected Attributes inherited from KDL::SolverI | |
int | error |
Latest error, initialized to E_NOERROR in constructor. More... | |
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.
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explicit |
Constructor of the solver
chain | the chain to calculate the inverse velocity kinematics for |
Definition at line 27 of file chainiksolvervel_pinv_givens.cpp.
KDL::ChainIkSolverVel_pinv_givens::~ChainIkSolverVel_pinv_givens | ( | ) |
Definition at line 65 of file chainiksolvervel_pinv_givens.cpp.
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virtual |
Calculate inverse velocity kinematics, from joint positions and cartesian velocity to joint velocities.
q_in | input joint positions |
v_in | input cartesian velocity |
qdot_out | output joint velocities |
Implements KDL::ChainIkSolverVel.
Definition at line 70 of file chainiksolvervel_pinv_givens.cpp.
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inlinevirtual |
not (yet) implemented.
Implements KDL::ChainIkSolverVel.
Definition at line 43 of file chainiksolvervel_pinv_givens.hpp.
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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 48 of file chainiksolvervel_pinv_givens.cpp.
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Definition at line 55 of file chainiksolvervel_pinv_givens.hpp.
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Definition at line 49 of file chainiksolvervel_pinv_givens.hpp.
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Definition at line 52 of file chainiksolvervel_pinv_givens.hpp.
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Definition at line 55 of file chainiksolvervel_pinv_givens.hpp.
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Definition at line 51 of file chainiksolvervel_pinv_givens.hpp.
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Definition at line 54 of file chainiksolvervel_pinv_givens.hpp.
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Definition at line 54 of file chainiksolvervel_pinv_givens.hpp.
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Definition at line 50 of file chainiksolvervel_pinv_givens.hpp.
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Definition at line 56 of file chainiksolvervel_pinv_givens.hpp.
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Definition at line 56 of file chainiksolvervel_pinv_givens.hpp.
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Definition at line 56 of file chainiksolvervel_pinv_givens.hpp.
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Definition at line 56 of file chainiksolvervel_pinv_givens.hpp.
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Definition at line 53 of file chainiksolvervel_pinv_givens.hpp.
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Definition at line 53 of file chainiksolvervel_pinv_givens.hpp.
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Definition at line 55 of file chainiksolvervel_pinv_givens.hpp.
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Definition at line 56 of file chainiksolvervel_pinv_givens.hpp.
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Definition at line 55 of file chainiksolvervel_pinv_givens.hpp.
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Definition at line 56 of file chainiksolvervel_pinv_givens.hpp.