KDL::TreeIkSolverVel_wdls Class Reference

#include <treeiksolvervel_wdls.hpp>

Inheritance diagram for KDL::TreeIkSolverVel_wdls:

Public Member Functions
virtual double	CartToJnt (const JntArray &q_in, const Twists &v_in, JntArray &qdot_out)
double	getLambda () const
const MatrixXd &	getWeightJS () const
const MatrixXd &	getWeightTS () const
void	setLambda (const double &lambda)
void	setWeightJS (const MatrixXd &Mq)
void	setWeightTS (const MatrixXd &Mx)
	TreeIkSolverVel_wdls (const Tree &tree, const std::vector< std::string > &endpoints)
	Child SVD failed. More...
virtual	~TreeIkSolverVel_wdls ()
Public Member Functions inherited from KDL::TreeIkSolverVel
virtual	~TreeIkSolverVel ()

Static Public Attributes
static const int	E_SVD_FAILED = -100

Private Attributes
MatrixXd	J
MatrixXd	J_Wq
Jacobians	jacobians
TreeJntToJacSolver	jnttojacsolver
double	lambda
VectorXd	qdot
VectorXd	S
VectorXd	t
VectorXd	tmp
Tree	tree
MatrixXd	U
MatrixXd	V
MatrixXd	Wq
MatrixXd	Wq_V
MatrixXd	Wy
MatrixXd	Wy_J_Wq
VectorXd	Wy_t
MatrixXd	Wy_U

Detailed Description

Definition at line 19 of file treeiksolvervel_wdls.hpp.

Constructor & Destructor Documentation

KDL::TreeIkSolverVel_wdls::TreeIkSolverVel_wdls	(	const Tree &	tree,
		const std::vector< std::string > &	endpoints
	)

Child SVD failed.

Definition at line 14 of file treeiksolvervel_wdls.cpp.

KDL::TreeIkSolverVel_wdls::~TreeIkSolverVel_wdls ( )

virtual

Definition at line 35 of file treeiksolvervel_wdls.cpp.

Member Function Documentation

double KDL::TreeIkSolverVel_wdls::CartToJnt ( const JntArray &  q_in, const Twists &  v_in, JntArray &  qdot_out  )

virtual

Calculate inverse velocity kinematics, from joint positions and cartesian velocities 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 distance to goal otherwise (weighted norm of v_in)

Implements KDL::TreeIkSolverVel.

Definition at line 50 of file treeiksolvervel_wdls.cpp.

double KDL::TreeIkSolverVel_wdls::getLambda ( ) const

inline

Definition at line 80 of file treeiksolvervel_wdls.hpp.

const MatrixXd& KDL::TreeIkSolverVel_wdls::getWeightJS ( ) const

inline

Definition at line 51 of file treeiksolvervel_wdls.hpp.

const MatrixXd& KDL::TreeIkSolverVel_wdls::getWeightTS ( ) const

inline

Definition at line 77 of file treeiksolvervel_wdls.hpp.

void KDL::TreeIkSolverVel_wdls::setLambda

(

const double &

lambda

)

Definition at line 46 of file treeiksolvervel_wdls.cpp.

void KDL::TreeIkSolverVel_wdls::setWeightJS

(

const MatrixXd &

Mq

)

Definition at line 38 of file treeiksolvervel_wdls.cpp.

void KDL::TreeIkSolverVel_wdls::setWeightTS

(

const MatrixXd &

Mx

)

Definition at line 42 of file treeiksolvervel_wdls.cpp.

Member Data Documentation

const int KDL::TreeIkSolverVel_wdls::E_SVD_FAILED = -100

static

Definition at line 21 of file treeiksolvervel_wdls.hpp.

MatrixXd KDL::TreeIkSolverVel_wdls::J

private

Definition at line 87 of file treeiksolvervel_wdls.hpp.

MatrixXd KDL::TreeIkSolverVel_wdls::J_Wq

private

Definition at line 87 of file treeiksolvervel_wdls.hpp.

Jacobians KDL::TreeIkSolverVel_wdls::jacobians

private

Definition at line 85 of file treeiksolvervel_wdls.hpp.

TreeJntToJacSolver KDL::TreeIkSolverVel_wdls::jnttojacsolver

private

Definition at line 84 of file treeiksolvervel_wdls.hpp.

double KDL::TreeIkSolverVel_wdls::lambda

private

Definition at line 89 of file treeiksolvervel_wdls.hpp.

VectorXd KDL::TreeIkSolverVel_wdls::qdot

private

Definition at line 88 of file treeiksolvervel_wdls.hpp.

VectorXd KDL::TreeIkSolverVel_wdls::S

private

Definition at line 88 of file treeiksolvervel_wdls.hpp.

VectorXd KDL::TreeIkSolverVel_wdls::t

private

Definition at line 88 of file treeiksolvervel_wdls.hpp.

VectorXd KDL::TreeIkSolverVel_wdls::tmp

private

Definition at line 88 of file treeiksolvervel_wdls.hpp.

Tree KDL::TreeIkSolverVel_wdls::tree

private

Definition at line 83 of file treeiksolvervel_wdls.hpp.

MatrixXd KDL::TreeIkSolverVel_wdls::U

private

Definition at line 87 of file treeiksolvervel_wdls.hpp.

MatrixXd KDL::TreeIkSolverVel_wdls::V

private

Definition at line 87 of file treeiksolvervel_wdls.hpp.

MatrixXd KDL::TreeIkSolverVel_wdls::Wq

private

Definition at line 87 of file treeiksolvervel_wdls.hpp.

MatrixXd KDL::TreeIkSolverVel_wdls::Wq_V

private

Definition at line 87 of file treeiksolvervel_wdls.hpp.

MatrixXd KDL::TreeIkSolverVel_wdls::Wy

private

Definition at line 87 of file treeiksolvervel_wdls.hpp.

MatrixXd KDL::TreeIkSolverVel_wdls::Wy_J_Wq

private

Definition at line 87 of file treeiksolvervel_wdls.hpp.

VectorXd KDL::TreeIkSolverVel_wdls::Wy_t

private

Definition at line 88 of file treeiksolvervel_wdls.hpp.

MatrixXd KDL::TreeIkSolverVel_wdls::Wy_U

private

Definition at line 87 of file treeiksolvervel_wdls.hpp.

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The documentation for this class was generated from the following files:

• treeiksolvervel_wdls.hpp
• treeiksolvervel_wdls.cpp