chainiksolvervel_wdls.hpp
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00001 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 #ifndef KDL_CHAIN_IKSOLVERVEL_WDLS_HPP
00023 #define KDL_CHAIN_IKSOLVERVEL_WDLS_HPP
00024 
00025 #include "chainiksolver.hpp"
00026 #include "chainjnttojacsolver.hpp"
00027 #include <Eigen/Core>
00028 
00029 namespace KDL
00030 {
00063     class ChainIkSolverVel_wdls : public ChainIkSolverVel
00064     {
00065     public:
00067         static const int E_CONVERGE_PINV_SINGULAR = +100;
00068 
00081         explicit ChainIkSolverVel_wdls(const Chain& chain,double eps=0.00001,int maxiter=150);
00082         //=ublas::identity_matrix<double>
00083         ~ChainIkSolverVel_wdls();
00084 
00100         virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
00105         virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out){return -1;};
00106 
00131         int setWeightJS(const Eigen::MatrixXd& Mq);
00132 
00158         int setWeightTS(const Eigen::MatrixXd& Mx);
00159 
00163         void setLambda(const double lambda);
00167         void setEps(const double eps_in);
00171         void setMaxIter(const int maxiter_in);
00172 
00178         unsigned int getNrZeroSigmas()const {return nrZeroSigmas;};
00179 
00183         double getSigmaMin()const {return sigmaMin;};
00184 
00188         int getSigma(Eigen::VectorXd& Sout);
00189 
00193         double getEps()const {return eps;};
00194 
00198         double getLambda()const {return lambda;};
00199 
00204         double getLambdaScaled()const {return lambda_scaled;};
00205 
00210         int getSVDResult()const {return svdResult;};
00211 
00213         virtual const char* strError(const int error) const;
00214 
00216         virtual void updateInternalDataStructures();
00217 
00218     private:
00219         const Chain& chain;
00220         ChainJntToJacSolver jnt2jac;
00221         unsigned int nj;
00222         Jacobian jac;
00223         Eigen::MatrixXd U;
00224         Eigen::VectorXd S;
00225         Eigen::MatrixXd V;
00226         double eps;
00227         int maxiter;
00228         Eigen::VectorXd tmp;
00229         Eigen::MatrixXd tmp_jac;
00230         Eigen::MatrixXd tmp_jac_weight1;
00231         Eigen::MatrixXd tmp_jac_weight2;
00232         Eigen::MatrixXd tmp_ts;
00233         Eigen::MatrixXd tmp_js;
00234         Eigen::MatrixXd weight_ts;
00235         Eigen::MatrixXd weight_js;
00236         double lambda;
00237                 double lambda_scaled;
00238                 unsigned int nrZeroSigmas ;
00239                 int svdResult;
00240                 double sigmaMin;
00241     };
00242 }
00243 #endif
00244 


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