#include <chainiksolvervel_pinv.hpp>
Public Member Functions | |
| virtual int | CartToJnt (const JntArray &q_in, const Twist &v_in, JntArray &qdot_out) |
| virtual int | CartToJnt (const JntArray &, const FrameVel &, JntArrayVel &) |
| ChainIkSolverVel_pinv (const Chain &chain, double eps=0.00001, int maxiter=150) | |
| unsigned int | getNrZeroSigmas () const |
| int | getSVDResult () const |
| virtual const char * | strError (const int error) const |
| virtual void | updateInternalDataStructures () |
| ~ChainIkSolverVel_pinv () | |
 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 | ~SolverI () |
Static Public Attributes | |
| static const int | E_CONVERGE_PINV_SINGULAR = +100 |
| solution converged but (pseudo)inverse is singular More... | |
Private Attributes | |
| const Chain & | chain |
| double | eps |
| Jacobian | jac |
| ChainJntToJacSolver | jnt2jac |
| int | maxiter |
| unsigned int | nj |
| unsigned int | nrZeroSigmas |
| JntArray | S |
| SVD_HH | svd |
| int | svdResult |
| JntArray | tmp |
| std::vector< JntArray > | U |
| std::vector< JntArray > | V |
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 40 of file chainiksolvervel_pinv.hpp.
Constructor & Destructor Documentation
◆ ChainIkSolverVel_pinv()
|
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 26 of file chainiksolvervel_pinv.cpp.
◆ ~ChainIkSolverVel_pinv()
| KDL::ChainIkSolverVel_pinv::~ChainIkSolverVel_pinv | ( | ) |
Definition at line 57 of file chainiksolvervel_pinv.cpp.
Member Function Documentation
◆ CartToJnt() [1/2]
|
virtual |
Find an output joint velocity qdot_out, given a starting joint pose q_init and a desired cartesian velocity v_in
- Returns
- E_NOERROR=solution converged to <eps in maxiter E_SVD_FAILED=SVD computation failed E_CONVERGE_PINV_SINGULAR=solution converged but (pseudo)inverse is singular
- Note
- if E_CONVERGE_PINV_SINGULAR returned then converged and can continue motion, but have degraded solution
- If E_SVD_FAILED returned, then getSvdResult() returns the error code from the SVD algorithm.
Implements KDL::ChainIkSolverVel.
Definition at line 62 of file chainiksolvervel_pinv.cpp.
◆ CartToJnt() [2/2]
|
inlinevirtual |
not (yet) implemented.
Implements KDL::ChainIkSolverVel.
Definition at line 80 of file chainiksolvervel_pinv.hpp.
◆ getNrZeroSigmas()
|
inline |
Retrieve the number of singular values of the jacobian that are < eps; if the number of near zero singular values is > jac.col()-jac.row(), then the jacobian pseudoinverse is singular
Definition at line 87 of file chainiksolvervel_pinv.hpp.
◆ getSVDResult()
|
inline |
Retrieve the latest return code from the SVD algorithm
- Returns
- 0 if CartToJnt() not yet called, otherwise latest SVD result code.
Definition at line 93 of file chainiksolvervel_pinv.hpp.
◆ strError()
|
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 132 of file chainiksolvervel_pinv.cpp.
◆ 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 43 of file chainiksolvervel_pinv.cpp.
Member Data Documentation
◆ chain
|
private |
Definition at line 101 of file chainiksolvervel_pinv.hpp.
◆ E_CONVERGE_PINV_SINGULAR
|
static |
solution converged but (pseudo)inverse is singular
Definition at line 44 of file chainiksolvervel_pinv.hpp.
◆ eps
|
private |
Definition at line 110 of file chainiksolvervel_pinv.hpp.
◆ jac
|
private |
Definition at line 104 of file chainiksolvervel_pinv.hpp.
◆ jnt2jac
|
private |
Definition at line 102 of file chainiksolvervel_pinv.hpp.
◆ maxiter
|
private |
Definition at line 111 of file chainiksolvervel_pinv.hpp.
◆ nj
|
private |
Definition at line 103 of file chainiksolvervel_pinv.hpp.
◆ nrZeroSigmas
|
private |
Definition at line 112 of file chainiksolvervel_pinv.hpp.
◆ S
|
private |
Definition at line 107 of file chainiksolvervel_pinv.hpp.
◆ svd
|
private |
Definition at line 105 of file chainiksolvervel_pinv.hpp.
◆ svdResult
|
private |
Definition at line 113 of file chainiksolvervel_pinv.hpp.
◆ tmp
|
private |
Definition at line 109 of file chainiksolvervel_pinv.hpp.
◆ U
|
private |
Definition at line 106 of file chainiksolvervel_pinv.hpp.
◆ V
|
private |
Definition at line 108 of file chainiksolvervel_pinv.hpp.
The documentation for this class was generated from the following files: