8 #ifndef TREEIKSOLVERVEL_WDLS_HPP_ 9 #define TREEIKSOLVERVEL_WDLS_HPP_ 17 using namespace Eigen;
21 static const int E_SVD_FAILED = -100;
50 void setWeightJS(
const MatrixXd& Mq);
76 void setWeightTS(
const MatrixXd& Mx);
79 void setLambda(
const double& lambda);
87 MatrixXd J, Wy, Wq, J_Wq, Wy_J_Wq, U, V,
Wy_U, Wq_V;
88 VectorXd t,
Wy_t, qdot, tmp, S;
const MatrixXd & getWeightTS() const
TreeJntToJacSolver jnttojacsolver
This class represents an fixed size array containing joint values of a KDL::Chain.
std::map< std::string, Jacobian > Jacobians
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
std::map< std::string, Twist > Twists
This class encapsulates a tree kinematic interconnection structure. It is built out of segments...
const MatrixXd & getWeightJS() const