svd_HH.hpp
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1 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 
3 // Version: 1.0
4 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // URL: http://www.orocos.org/kdl
7 
8 // This library is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU Lesser General Public
10 // License as published by the Free Software Foundation; either
11 // version 2.1 of the License, or (at your option) any later version.
12 
13 // This library is distributed in the hope that it will be useful,
14 // but WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // Lesser General Public License for more details.
17 
18 // You should have received a copy of the GNU Lesser General Public
19 // License along with this library; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21 
22 #ifndef KDL_SVD_HH_HPP
23 #define KDL_SVD_HH_HPP
24 
25 #include "../jacobian.hpp"
26 #include "../jntarray.hpp"
27 #include <vector>
28 
29 namespace KDL
30 {
31 
32  class SVD_HH
33  {
34  public:
35  SVD_HH(const Jacobian& jac);
36  ~SVD_HH();
37 
38  int calculate(const Jacobian& jac,std::vector<JntArray>& U,
39  JntArray& w,std::vector<JntArray>& v,int maxiter);
40  private:
42  };
43 }
44 #endif
45 
46 
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
SVD_HH(const Jacobian &jac)
Definition: svd_HH.cpp:51
JntArray tmp
Definition: svd_HH.hpp:41
int calculate(const Jacobian &jac, std::vector< JntArray > &U, JntArray &w, std::vector< JntArray > &v, int maxiter)
Definition: svd_HH.cpp:60


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autogenerated on Sun Nov 22 2020 03:16:43