#include <chainiksolvervel_pinv_givens.hpp>

Inheritance diagram for KDL::ChainIkSolverVel_pinv_givens:

Public Member Functions
virtual int	CartToJnt (const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)

virtual int	CartToJnt (const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)

	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

VectorXd	tempj

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...

Detailed Description

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.

Constructor & Destructor Documentation

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

explicit

Constructor of the solver

Parameters

chain	the chain to calculate the inverse velocity kinematics for
eps	if a singular value is below this value, its inverse is set to zero, default: 0.00001
maxiter	maximum iterations for the svd calculation, default: 150

Definition at line 27 of file chainiksolvervel_pinv_givens.cpp.

KDL::ChainIkSolverVel_pinv_givens::~ChainIkSolverVel_pinv_givens ( )

Definition at line 67 of file chainiksolvervel_pinv_givens.cpp.

Member Function Documentation

int KDL::ChainIkSolverVel_pinv_givens::CartToJnt	(	const JntArray &	q_in,
		const Twist &	v_in,
		JntArray &	qdot_out
	)

virtual

Calculate inverse velocity kinematics, from joint positions and cartesian velocity to joint velocities.

Parameters

q_in	input joint positions
v_in	input cartesian velocity
qdot_out	output joint velocities

Returns: if < 0 something went wrong

Implements KDL::ChainIkSolverVel.

Definition at line 72 of file chainiksolvervel_pinv_givens.cpp.

virtual int KDL::ChainIkSolverVel_pinv_givens::CartToJnt	(	const JntArray &	q_init,
		const FrameVel &	v_in,
		JntArrayVel &	q_out
	)

inlinevirtual

not (yet) implemented.

Implements KDL::ChainIkSolverVel.

Definition at line 47 of file chainiksolvervel_pinv_givens.hpp.

void KDL::ChainIkSolverVel_pinv_givens::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::ChainIkSolverVel.

Definition at line 49 of file chainiksolvervel_pinv_givens.cpp.