#include <chainiksolvervel_wdls_coupling.hpp>

Inheritance diagram for KDL::ChainIkSolverVel_wdls_coupling:

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_wdls_coupling (const Chain_coupling &chain, double eps=0.00001, int maxiter=150)

Eigen::MatrixXd	getWeightJS ()

Eigen::MatrixXd	getWeightTS ()

void	setLambda (const double &lambda)

void	setWeightJS (const Eigen::MatrixXd &Mq)

void	setWeightTS (const Eigen::MatrixXd &Mx)

virtual void	updateInternalDataStructures ()

	~ChainIkSolverVel_wdls_coupling ()

Public Member Functions inherited from KDL::ChainIkSolverVel
virtual	~ChainIkSolverVel ()

Public Member Functions inherited from KDL::SolverI
virtual int	getError () const

	SolverI ()

virtual const char *	strError (const int error) const

virtual	~SolverI ()

Private Attributes
Chain_coupling	chain

double	eps

Jacobian	jac

ChainJntToJacSolver_coupling	jnt2jac

double	lambda

int	maxiter

Eigen::VectorXd	S

Eigen::VectorXd	tmp

Eigen::MatrixXd	tmp_jac

Eigen::MatrixXd	tmp_jac_weight1

Eigen::MatrixXd	tmp_jac_weight2

Eigen::MatrixXd	tmp_js

Eigen::MatrixXd	tmp_ts

Eigen::MatrixXd	U

Eigen::MatrixXd	V

Eigen::MatrixXd	weight_js

Eigen::MatrixXd	weight_ts

Additional Inherited Members
Public Attributes inherited from KDL::SolverI
	E_DEGRADED

	E_MAX_ITERATIONS_EXCEEDED

	E_NO_CONVERGE

	E_NOERROR

	E_NOT_IMPLEMENTED

	E_NOT_UP_TO_DATE

	E_OUT_OF_RANGE

	E_SIZE_MISMATCH

	E_SVD_FAILED

	E_UNDEFINED

Protected Attributes inherited from KDL::SolverI
int	error

Detailed Description

Definition at line 66 of file chainiksolvervel_wdls_coupling.hpp.

Constructor & Destructor Documentation

◆ ChainIkSolverVel_wdls_coupling()

KDL::ChainIkSolverVel_wdls_coupling::ChainIkSolverVel_wdls_coupling	(	const Chain_coupling &	chain,
		double	eps = `0.00001`,
		int	maxiter = `150`
	)

explicit

Definition at line 31 of file chainiksolvervel_wdls_coupling.cpp.

◆ ~ChainIkSolverVel_wdls_coupling()

KDL::ChainIkSolverVel_wdls_coupling::~ChainIkSolverVel_wdls_coupling ( )

Definition at line 53 of file chainiksolvervel_wdls_coupling.cpp.

Member Function Documentation

◆ CartToJnt() [1/2]

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

virtual

Implements KDL::ChainIkSolverVel.

Definition at line 82 of file chainiksolvervel_wdls_coupling.cpp.

◆ CartToJnt() [2/2]

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

inlinevirtual

Implements KDL::ChainIkSolverVel.

Definition at line 93 of file chainiksolvervel_wdls_coupling.hpp.

◆ getWeightJS()

MatrixXd KDL::ChainIkSolverVel_wdls_coupling::getWeightJS ( )

Definition at line 62 of file chainiksolvervel_wdls_coupling.cpp.

◆ getWeightTS()

MatrixXd KDL::ChainIkSolverVel_wdls_coupling::getWeightTS ( )

Definition at line 72 of file chainiksolvervel_wdls_coupling.cpp.

◆ setLambda()

void KDL::ChainIkSolverVel_wdls_coupling::setLambda ( const double & lambda )

Definition at line 77 of file chainiksolvervel_wdls_coupling.cpp.

◆ setWeightJS()

void KDL::ChainIkSolverVel_wdls_coupling::setWeightJS ( const Eigen::MatrixXd & Mq )

/* Set the joint space weighting matrix

Parameters

weight_js joint space weighting symetric matrix, default : identity. M_q : This matrix being used as a weight for the norm of the joint space speed it HAS TO BE symmetric and positive definite. We can actually deal with matrices containing a symmetric and positive definite block and 0s otherwise. Taking a diagonal matrix as an example, a 0 on the diagonal means that the corresponding joints will not contribute to the motion of the system. On the other hand, the bigger the value, the most the corresponding joint will contribute to the overall motion. The obtained solution q_dot will actually minimize the weighted norm sqrt(q_dot'*(M_q^-2)*q_dot). In the special case we deal with, it does not make sense to invert M_q but what is important is the physical meaning of all this : a joint that has a zero weight in M_q will not contribute to the motion of the system and this is equivalent to saying that it gets an infinite weight in the norm computation. For more detailed explanation : vince.nosp@m.nt.p.nosp@m.adois.nosp@m.@upm.nosp@m.c.fr

Definition at line 57 of file chainiksolvervel_wdls_coupling.cpp.