Public Member Functions | Private Attributes
KDL::ChainIkSolverVel_pinv_givens Class Reference

#include <chainiksolvervel_pinv_givens.hpp>

Inheritance diagram for KDL::ChainIkSolverVel_pinv_givens:
Inheritance graph
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List of all members.

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_pinv_givens (const Chain &chain)
virtual void updateInternalDataStructures ()
 ~ChainIkSolverVel_pinv_givens ()

Private Attributes

MatrixXd B
const Chainchain
Jacobian jac
MatrixXd jac_eigen
ChainJntToJacSolver jnt2jac
unsigned int m
unsigned int n
unsigned int nj
VectorXd qdot_eigen
VectorXd S
VectorXd SUY
VectorXd tempi
VectorXd tempj
bool toggle
bool transpose
MatrixXd U
VectorXd UY
MatrixXd V
VectorXd v_in_eigen

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 24 of file chainiksolvervel_pinv_givens.hpp.


Constructor & Destructor Documentation

Constructor of the solver

Parameters:
chainthe chain to calculate the inverse velocity kinematics for
epsif a singular value is below this value, its inverse is set to zero, default: 0.00001
maxitermaximum iterations for the svd calculation, default: 150

Definition at line 27 of file chainiksolvervel_pinv_givens.cpp.

Definition at line 67 of file chainiksolvervel_pinv_givens.cpp.


Member Function Documentation

int KDL::ChainIkSolverVel_pinv_givens::CartToJnt ( const JntArray q_in,
const Twist v_in,
JntArray qdot_out 
) [virtual]

Calculate inverse velocity kinematics, from joint positions and cartesian velocity to joint velocities.

Parameters:
q_ininput joint positions
v_ininput cartesian velocity
qdot_outoutput joint velocities
Returns:
if < 0 something went wrong

Implements KDL::ChainIkSolverVel.

Definition at line 72 of file chainiksolvervel_pinv_givens.cpp.

virtual int KDL::ChainIkSolverVel_pinv_givens::CartToJnt ( const JntArray q_init,
const FrameVel v_in,
JntArrayVel q_out 
) [inline, virtual]

not (yet) implemented.

Implements KDL::ChainIkSolverVel.

Definition at line 47 of file chainiksolvervel_pinv_givens.hpp.

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 49 of file chainiksolvervel_pinv_givens.cpp.


Member Data Documentation

Definition at line 59 of file chainiksolvervel_pinv_givens.hpp.

Definition at line 53 of file chainiksolvervel_pinv_givens.hpp.

Definition at line 56 of file chainiksolvervel_pinv_givens.hpp.

Definition at line 59 of file chainiksolvervel_pinv_givens.hpp.

Definition at line 55 of file chainiksolvervel_pinv_givens.hpp.

unsigned int KDL::ChainIkSolverVel_pinv_givens::m [private]

Definition at line 58 of file chainiksolvervel_pinv_givens.hpp.

unsigned int KDL::ChainIkSolverVel_pinv_givens::n [private]

Definition at line 58 of file chainiksolvervel_pinv_givens.hpp.

unsigned int KDL::ChainIkSolverVel_pinv_givens::nj [private]

Definition at line 54 of file chainiksolvervel_pinv_givens.hpp.

Definition at line 60 of file chainiksolvervel_pinv_givens.hpp.

Definition at line 60 of file chainiksolvervel_pinv_givens.hpp.

Definition at line 60 of file chainiksolvervel_pinv_givens.hpp.

Definition at line 60 of file chainiksolvervel_pinv_givens.hpp.

Definition at line 60 of file chainiksolvervel_pinv_givens.hpp.

Definition at line 57 of file chainiksolvervel_pinv_givens.hpp.

Definition at line 57 of file chainiksolvervel_pinv_givens.hpp.

Definition at line 59 of file chainiksolvervel_pinv_givens.hpp.

Definition at line 60 of file chainiksolvervel_pinv_givens.hpp.

Definition at line 59 of file chainiksolvervel_pinv_givens.hpp.

Definition at line 60 of file chainiksolvervel_pinv_givens.hpp.


The documentation for this class was generated from the following files:


orocos_kdl
Author(s):
autogenerated on Wed Mar 6 2019 03:36:13