chainiksolvervel_pinv.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_CHAIN_IKSOLVERVEL_PINV_HPP
23 #define KDL_CHAIN_IKSOLVERVEL_PINV_HPP
24 
25 #include "chainiksolver.hpp"
26 #include "chainjnttojacsolver.hpp"
27 #include "utilities/svd_HH.hpp"
28 
29 namespace KDL
30 {
41  {
42  public:
44  static const int E_CONVERGE_PINV_SINGULAR = +100;
45 
57  explicit ChainIkSolverVel_pinv(const Chain& chain,double eps=0.00001,int maxiter=150);
59 
75  virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
80  virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out){return -1;};
81 
87  unsigned int getNrZeroSigmas()const {return nrZeroSigmas;};
88 
93  int getSVDResult()const {return svdResult;};
94 
96  virtual const char* strError(const int error) const;
97 
99  virtual void updateInternalDataStructures();
100  private:
101  const Chain& chain;
103  unsigned int nj;
106  std::vector<JntArray> U;
108  std::vector<JntArray> V;
110  double eps;
111  int maxiter;
112  unsigned int nrZeroSigmas;
114 
115  };
116 }
117 #endif
118 
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
Definition: chain.hpp:35
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
ChainIkSolverVel_pinv(const Chain &chain, double eps=0.00001, int maxiter=150)
unsigned int getNrZeroSigmas() const
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers. It should not be used outside of KDL.
represents both translational and rotational velocities.
Definition: frames.hpp:720
static const int E_CONVERGE_PINV_SINGULAR
solution converged but (pseudo)inverse is singular
virtual int CartToJnt(const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)
virtual const char * strError(const int error) const
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:149
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.


orocos_kdl
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autogenerated on Fri Jun 14 2019 19:15:38