chainiksolvervel_pinv_givens.hpp
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00001 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
00004 #define KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
00005 
00006 #include "chainiksolver.hpp"
00007 #include "chainjnttojacsolver.hpp"
00008 
00009 #include <Eigen/Core>
00010 
00011 using namespace Eigen;
00012 
00013 namespace KDL
00014 {
00024     class ChainIkSolverVel_pinv_givens : public ChainIkSolverVel
00025     {
00026     public:
00027 
00039         explicit ChainIkSolverVel_pinv_givens(const Chain& chain);
00040         ~ChainIkSolverVel_pinv_givens();
00041 
00042         virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
00047         virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out){return (error = E_NOT_IMPLEMENTED);};
00048 
00050         virtual void updateInternalDataStructures();
00051 
00052     private:
00053         const Chain& chain;
00054         unsigned int nj;
00055         ChainJntToJacSolver jnt2jac;
00056         Jacobian jac;
00057         bool transpose,toggle;
00058         unsigned int m,n;
00059         MatrixXd jac_eigen,U,V,B;
00060         VectorXd S,tempi,tempj,UY,SUY,qdot_eigen,v_in_eigen;
00061     };
00062 }
00063 #endif


orocos_kdl
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autogenerated on Fri Jun 14 2019 19:33:22