Computes the Jacobian time derivative (Jdot) by calculating the partial derivatives regarding to a joint angle, in the Hybrid, Body-fixed or Inertial representation. More...

#include <chainjnttojacdotsolver.hpp>

Inheritance diagram for KDL::ChainJntToJacDotSolver:

[legend]

Public Member Functions
	ChainJntToJacDotSolver (const Chain &chain)

virtual int	JntToJacDot (const KDL::JntArrayVel &q_in, KDL::Twist &jac_dot_q_dot, int seg_nr=-1)
	Computes ${}_{bs}\dot{J}^{ee}.\dot{q}$ . More...

virtual int	JntToJacDot (const KDL::JntArrayVel &q_in, KDL::Jacobian &jdot, int seg_nr=-1)
	Computes ${}_{bs}\dot{J}^{ee}$ . More...

void	setBodyFixedRepresentation ()
	JntToJacDot() will compute in the Body-fixed representation (ref Frame: end-effector, ref Point: end-effector) More...

void	setHybridRepresentation ()
	JntToJacDot() will compute in the Hybrid representation (ref Frame: base, ref Point: end-effector) More...

void	setInertialRepresentation ()
	JntToJacDot() will compute in the Inertial representation (ref Frame: base, ref Point: base) More...

int	setLockedJoints (const std::vector< bool > &locked_joints)

void	setRepresentation (const int &representation)
	Sets the internal variable for the representation (with a check on the value) More...

virtual const char *	strError (const int error) const

virtual void	updateInternalDataStructures ()

virtual	~ChainJntToJacDotSolver ()

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	~SolverI ()

Static Public Attributes
static const int	BODYFIXED = 1

static const int	E_FKSOLVERPOS_FAILED = -102

static const int	E_JAC_DOT_FAILED = -100

static const int	E_JACSOLVER_FAILED = -101

static const int	HYBRID = 0

static const int	INERTIAL = 2

Protected Member Functions
const Twist &	getPartialDerivative (const Jacobian &J, const unsigned int &joint_idx, const unsigned int &column_idx, const int &representation)
	Computes $\frac{\partial J^{i,ee}}{\partial q^{j}}.\dot{q}^{j}$ . More...

const Twist &	getPartialDerivativeBodyFixed (const Jacobian &ee_J_ee, const unsigned int &joint_idx, const unsigned int &column_idx)
	Computes $\frac{\partial {}_{ee}J^{i,ee}}{\partial q^{j}}.\dot{q}^{j}$ . More...

const Twist &	getPartialDerivativeHybrid (const Jacobian &bs_J_ee, const unsigned int &joint_idx, const unsigned int &column_idx)
	Computes $\frac{\partial {}_{bs}J^{i,ee}}{\partial q^{j}}.\dot{q}^{j}$ . More...

const Twist &	getPartialDerivativeInertial (const Jacobian &bs_J_bs, const unsigned int &joint_idx, const unsigned int &column_idx)
	Computes $\frac{\partial {}_{bs}J^{i,bs}}{\partial q^{j}}.\dot{q}^{j}$ . More...

Private Attributes
const Chain &	chain

Frame	F_bs_ee_

ChainFkSolverPos_recursive	fk_solver_

Jacobian	jac_

Jacobian	jac_dot_

Twist	jac_dot_k_

Twist	jac_i_

Twist	jac_j_

ChainJntToJacSolver	jac_solver_

std::vector< bool >	locked_joints_

unsigned int	nr_of_unlocked_joints_

int	representation_

Twist	t_djdq_

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...

Detailed Description

Computes the Jacobian time derivative (Jdot) by calculating the partial derivatives regarding to a joint angle, in the Hybrid, Body-fixed or Inertial representation.

This work is based on : Symbolic differentiation of the velocity mapping for a serial kinematic chain H. Bruyninckx, J. De Schutter doi:10.1016/0094-114X(95)00069-B

url : http://www.sciencedirect.com/science/article/pii/0094114X9500069B

Definition at line 48 of file chainjnttojacdotsolver.hpp.

Constructor & Destructor Documentation

KDL::ChainJntToJacDotSolver::ChainJntToJacDotSolver ( const Chain & chain )

explicit

Definition at line 34 of file chainjnttojacdotsolver.cpp.

KDL::ChainJntToJacDotSolver::~ChainJntToJacDotSolver ( )

virtual

Definition at line 249 of file chainjnttojacdotsolver.cpp.

Member Function Documentation

const Twist & KDL::ChainJntToJacDotSolver::getPartialDerivative	(	const Jacobian &	J,
		const unsigned int &	joint_idx,
		const unsigned int &	column_idx,
		const int &	representation
	)

protected

Computes $\frac{\partial J^{i,ee}}{\partial q^{j}}.\dot{q}^{j}$ .

Parameters

bs_J_bs	The Jacobian expressed in the base frame with the end effector as the reference point
joint_idx	The indice of the current joint (j in the formula)
column_idx	The indice of the current column (i in the formula)
representation	The representation (Hybrid,Body-fixed,Inertial) in which you want to get dJ/dqj .qdotj

Returns: Twist The twist representing dJi/dqj .qdotj

Definition at line 125 of file chainjnttojacdotsolver.cpp.

const Twist & KDL::ChainJntToJacDotSolver::getPartialDerivativeBodyFixed	(	const Jacobian &	ee_J_ee,
		const unsigned int &	joint_idx,
		const unsigned int &	column_idx
	)

protected

Computes $\frac{\partial {}_{ee}J^{i,ee}}{\partial q^{j}}.\dot{q}^{j}$ .

Parameters

bs_J_ee	The Jacobian expressed in the end effector frame with the end effector as the reference point
joint_idx	The indice of the current joint (j in the formula)
column_idx	The indice of the current column (i in the formula)

Returns: Twist The twist representing dJi/dqj .qdotj

Definition at line 175 of file chainjnttojacdotsolver.cpp.

const Twist & KDL::ChainJntToJacDotSolver::getPartialDerivativeHybrid	(	const Jacobian &	bs_J_ee,
		const unsigned int &	joint_idx,
		const unsigned int &	column_idx
	)

protected

Computes $\frac{\partial {}_{bs}J^{i,ee}}{\partial q^{j}}.\dot{q}^{j}$ .

Parameters

bs_J_ee	The Jacobian expressed in the base frame with the end effector as the reference point (default in KDL Jacobian Solver)
joint_idx	The index of the current joint (j in the formula)
column_idx	The index of the current column (i in the formula)

Returns: Twist The twist representing dJi/dqj .qdotj

Definition at line 144 of file chainjnttojacdotsolver.cpp.

const Twist & KDL::ChainJntToJacDotSolver::getPartialDerivativeInertial	(	const Jacobian &	bs_J_bs,
		const unsigned int &	joint_idx,
		const unsigned int &	column_idx
	)

protected

Computes $\frac{\partial {}_{bs}J^{i,bs}}{\partial q^{j}}.\dot{q}^{j}$ .

Parameters

ee_J_ee	The Jacobian expressed in the base frame with the base as the reference point
joint_idx	The indice of the current joint (j in the formula)
column_idx	The indice of the current column (i in the formula)

Returns: Twist The twist representing dJi/dqj .qdotj

Definition at line 197 of file chainjnttojacdotsolver.cpp.

int KDL::ChainJntToJacDotSolver::JntToJacDot	(	const KDL::JntArrayVel &	q_in,
		KDL::Twist &	jac_dot_q_dot,
		int	seg_nr = `-1`
	)

virtual

Computes ${}_{bs}\dot{J}^{ee}.\dot{q}$ .

Parameters

q_in	Current joint positions and velocities
jac_dot_q_dot	The twist representing Jdot*qdot
seg_nr	The final segment to compute

Returns: int 0 if no errors happened

Definition at line 55 of file chainjnttojacdotsolver.cpp.

int KDL::ChainJntToJacDotSolver::JntToJacDot	(	const KDL::JntArrayVel &	q_in,
		KDL::Jacobian &	jdot,
		int	seg_nr = `-1`
	)

virtual

Computes ${}_{bs}\dot{J}^{ee}$ .

Parameters

q_in	Current joint positions and velocities
jdot	The jacobian time derivative in the configured representation (HYBRID, BODYFIXED or INERTIAL)
seg_nr	The final segment to compute

Returns: int 0 if no errors happened

Definition at line 65 of file chainjnttojacdotsolver.cpp.

void KDL::ChainJntToJacDotSolver::setBodyFixedRepresentation ( )

inline

JntToJacDot() will compute in the Body-fixed representation (ref Frame: end-effector, ref Point: end-effector)

Returns: void

Definition at line 97 of file chainjnttojacdotsolver.hpp.

void KDL::ChainJntToJacDotSolver::setHybridRepresentation ( )

inline

JntToJacDot() will compute in the Hybrid representation (ref Frame: base, ref Point: end-effector)

Returns: void

Definition at line 91 of file chainjnttojacdotsolver.hpp.

void KDL::ChainJntToJacDotSolver::setInertialRepresentation ( )

inline

JntToJacDot() will compute in the Inertial representation (ref Frame: base, ref Point: base)

Returns: void

Definition at line 103 of file chainjnttojacdotsolver.hpp.

int KDL::ChainJntToJacDotSolver::setLockedJoints ( const std::vector< bool > & locked_joints )

Definition at line 227 of file chainjnttojacdotsolver.cpp.

void KDL::ChainJntToJacDotSolver::setRepresentation ( const int & representation )

Sets the internal variable for the representation (with a check on the value)

Parameters

representation The representation for Jdot : HYBRID,BODYFIXED or INERTIAL

Returns: void

Definition at line 218 of file chainjnttojacdotsolver.cpp.

const char * KDL::ChainJntToJacDotSolver::strError ( const int error ) const

virtual

Return a description of the latest error

Returns: if error is known then a description of error, otherwise "UNKNOWN ERROR"

Reimplemented from KDL::SolverI.

Definition at line 241 of file chainjnttojacdotsolver.cpp.

void KDL::ChainJntToJacDotSolver::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::SolverI.

Definition at line 46 of file chainjnttojacdotsolver.cpp.