Public Member Functions | Static Public Attributes | Protected Member Functions | Private Attributes | List of all members
KDL::ChainJntToJacDotSolver Class Reference

Computes the Jacobian time derivative (Jdot) by calculating the partial derivatives regarding to a joint angle, in the Hybrid, Body-fixed or Inertial representation. More...

#include <chainjnttojacdotsolver.hpp>

Inheritance diagram for KDL::ChainJntToJacDotSolver:
Inheritance graph
[legend]

Public Member Functions

 ChainJntToJacDotSolver (const Chain &chain)
 
virtual int JntToJacDot (const KDL::JntArrayVel &q_in, KDL::Twist &jac_dot_q_dot, int seg_nr=-1)
 Computes $ {}_{bs}\dot{J}^{ee}.\dot{q} $. More...
 
virtual int JntToJacDot (const KDL::JntArrayVel &q_in, KDL::Jacobian &jdot, int seg_nr=-1)
 Computes $ {}_{bs}\dot{J}^{ee} $. More...
 
void setBodyFixedRepresentation ()
 JntToJacDot() will compute in the Body-fixed representation (ref Frame: end-effector, ref Point: end-effector) More...
 
void setHybridRepresentation ()
 JntToJacDot() will compute in the Hybrid representation (ref Frame: base, ref Point: end-effector) More...
 
void setInertialRepresentation ()
 JntToJacDot() will compute in the Inertial representation (ref Frame: base, ref Point: base) More...
 
int setLockedJoints (const std::vector< bool > &locked_joints)
 
void setRepresentation (const int &representation)
 Sets the internal variable for the representation (with a check on the value) More...
 
virtual const char * strError (const int error) const
 
virtual void updateInternalDataStructures ()
 
virtual ~ChainJntToJacDotSolver ()
 
- Public Member Functions inherited from KDL::SolverI
virtual int getError () const
 Return the latest error. More...
 
 SolverI ()
 Initialize latest error to E_NOERROR. More...
 
virtual ~SolverI ()
 

Static Public Attributes

static const int BODYFIXED = 1
 
static const int E_FKSOLVERPOS_FAILED = -102
 
static const int E_JAC_DOT_FAILED = -100
 
static const int E_JACSOLVER_FAILED = -101
 
static const int HYBRID = 0
 
static const int INERTIAL = 2
 

Protected Member Functions

const TwistgetPartialDerivative (const Jacobian &J, const unsigned int &joint_idx, const unsigned int &column_idx, const int &representation)
 Computes $ \frac{\partial J^{i,ee}}{\partial q^{j}}.\dot{q}^{j} $. More...
 
const TwistgetPartialDerivativeBodyFixed (const Jacobian &ee_J_ee, const unsigned int &joint_idx, const unsigned int &column_idx)
 Computes $ \frac{\partial {}_{ee}J^{i,ee}}{\partial q^{j}}.\dot{q}^{j} $. More...
 
const TwistgetPartialDerivativeHybrid (const Jacobian &bs_J_ee, const unsigned int &joint_idx, const unsigned int &column_idx)
 Computes $ \frac{\partial {}_{bs}J^{i,ee}}{\partial q^{j}}.\dot{q}^{j} $. More...
 
const TwistgetPartialDerivativeInertial (const Jacobian &bs_J_bs, const unsigned int &joint_idx, const unsigned int &column_idx)
 Computes $ \frac{\partial {}_{bs}J^{i,bs}}{\partial q^{j}}.\dot{q}^{j} $. More...
 

Private Attributes

const Chainchain
 
Frame F_bs_ee_
 
ChainFkSolverPos_recursive fk_solver_
 
Jacobian jac_
 
Jacobian jac_dot_
 
Twist jac_dot_k_
 
Twist jac_i_
 
Twist jac_j_
 
ChainJntToJacSolver jac_solver_
 
std::vector< bool > locked_joints_
 
unsigned int nr_of_unlocked_joints_
 
int representation_
 
Twist t_djdq_
 

Additional Inherited Members

- Public Types inherited from KDL::SolverI
enum  {
  E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2,
  E_NOT_UP_TO_DATE = -3, E_SIZE_MISMATCH = -4, E_MAX_ITERATIONS_EXCEEDED = -5, E_OUT_OF_RANGE = -6,
  E_NOT_IMPLEMENTED = -7, E_SVD_FAILED = -8
}
 
- Protected Attributes inherited from KDL::SolverI
int error
 Latest error, initialized to E_NOERROR in constructor. More...
 

Detailed Description

Computes the Jacobian time derivative (Jdot) by calculating the partial derivatives regarding to a joint angle, in the Hybrid, Body-fixed or Inertial representation.

This work is based on : Symbolic differentiation of the velocity mapping for a serial kinematic chain H. Bruyninckx, J. De Schutter doi:10.1016/0094-114X(95)00069-B

url : http://www.sciencedirect.com/science/article/pii/0094114X9500069B

Definition at line 48 of file chainjnttojacdotsolver.hpp.

Constructor & Destructor Documentation

KDL::ChainJntToJacDotSolver::ChainJntToJacDotSolver ( const Chain chain)
explicit

Definition at line 26 of file chainjnttojacdotsolver.cpp.

KDL::ChainJntToJacDotSolver::~ChainJntToJacDotSolver ( )
virtual

Definition at line 241 of file chainjnttojacdotsolver.cpp.

Member Function Documentation

const Twist & KDL::ChainJntToJacDotSolver::getPartialDerivative ( const Jacobian J,
const unsigned int &  joint_idx,
const unsigned int &  column_idx,
const int &  representation 
)
protected

Computes $ \frac{\partial J^{i,ee}}{\partial q^{j}}.\dot{q}^{j} $.

Parameters
bs_J_bsThe Jacobian expressed in the base frame with the end effector as the reference point
joint_idxThe indice of the current joint (j in the formula)
column_idxThe indice of the current column (i in the formula)
representationThe representation (Hybrid,Body-fixed,Inertial) in which you want to get dJ/dqj .qdotj
Returns
Twist The twist representing dJi/dqj .qdotj

Definition at line 117 of file chainjnttojacdotsolver.cpp.

const Twist & KDL::ChainJntToJacDotSolver::getPartialDerivativeBodyFixed ( const Jacobian ee_J_ee,
const unsigned int &  joint_idx,
const unsigned int &  column_idx 
)
protected

Computes $ \frac{\partial {}_{ee}J^{i,ee}}{\partial q^{j}}.\dot{q}^{j} $.

Parameters
bs_J_eeThe Jacobian expressed in the end effector frame with the end effector as the reference point
joint_idxThe indice of the current joint (j in the formula)
column_idxThe indice of the current column (i in the formula)
Returns
Twist The twist representing dJi/dqj .qdotj

Definition at line 167 of file chainjnttojacdotsolver.cpp.

const Twist & KDL::ChainJntToJacDotSolver::getPartialDerivativeHybrid ( const Jacobian bs_J_ee,
const unsigned int &  joint_idx,
const unsigned int &  column_idx 
)
protected

Computes $ \frac{\partial {}_{bs}J^{i,ee}}{\partial q^{j}}.\dot{q}^{j} $.

Parameters
bs_J_eeThe Jacobian expressed in the base frame with the end effector as the reference point (default in KDL Jacobian Solver)
joint_idxThe index of the current joint (j in the formula)
column_idxThe index of the current column (i in the formula)
Returns
Twist The twist representing dJi/dqj .qdotj

Definition at line 136 of file chainjnttojacdotsolver.cpp.

const Twist & KDL::ChainJntToJacDotSolver::getPartialDerivativeInertial ( const Jacobian bs_J_bs,
const unsigned int &  joint_idx,
const unsigned int &  column_idx 
)
protected

Computes $ \frac{\partial {}_{bs}J^{i,bs}}{\partial q^{j}}.\dot{q}^{j} $.

Parameters
ee_J_eeThe Jacobian expressed in the base frame with the base as the reference point
joint_idxThe indice of the current joint (j in the formula)
column_idxThe indice of the current column (i in the formula)
Returns
Twist The twist representing dJi/dqj .qdotj

Definition at line 189 of file chainjnttojacdotsolver.cpp.

int KDL::ChainJntToJacDotSolver::JntToJacDot ( const KDL::JntArrayVel q_in,
KDL::Twist jac_dot_q_dot,
int  seg_nr = -1 
)
virtual

Computes $ {}_{bs}\dot{J}^{ee}.\dot{q} $.

Parameters
q_inCurrent joint positions and velocities
jac_dot_q_dotThe twist representing Jdot*qdot
seg_nrThe final segment to compute
Returns
int 0 if no errors happened

Definition at line 47 of file chainjnttojacdotsolver.cpp.

int KDL::ChainJntToJacDotSolver::JntToJacDot ( const KDL::JntArrayVel q_in,
KDL::Jacobian jdot,
int  seg_nr = -1 
)
virtual

Computes $ {}_{bs}\dot{J}^{ee} $.

Parameters
q_inCurrent joint positions and velocities
jdotThe jacobian time derivative in the configured representation (HYBRID, BODYFIXED or INERTIAL)
seg_nrThe final segment to compute
Returns
int 0 if no errors happened

Definition at line 57 of file chainjnttojacdotsolver.cpp.

void KDL::ChainJntToJacDotSolver::setBodyFixedRepresentation ( )
inline

JntToJacDot() will compute in the Body-fixed representation (ref Frame: end-effector, ref Point: end-effector)

Returns
void

Definition at line 97 of file chainjnttojacdotsolver.hpp.

void KDL::ChainJntToJacDotSolver::setHybridRepresentation ( )
inline

JntToJacDot() will compute in the Hybrid representation (ref Frame: base, ref Point: end-effector)

Returns
void

Definition at line 91 of file chainjnttojacdotsolver.hpp.

void KDL::ChainJntToJacDotSolver::setInertialRepresentation ( )
inline

JntToJacDot() will compute in the Inertial representation (ref Frame: base, ref Point: base)

Returns
void

Definition at line 103 of file chainjnttojacdotsolver.hpp.

int KDL::ChainJntToJacDotSolver::setLockedJoints ( const std::vector< bool > &  locked_joints)

Definition at line 219 of file chainjnttojacdotsolver.cpp.

void KDL::ChainJntToJacDotSolver::setRepresentation ( const int &  representation)

Sets the internal variable for the representation (with a check on the value)

Parameters
representationThe representation for Jdot : HYBRID,BODYFIXED or INERTIAL
Returns
void

Definition at line 210 of file chainjnttojacdotsolver.cpp.

const char * KDL::ChainJntToJacDotSolver::strError ( const int  error) const
virtual

Return a description of the latest error

Returns
if error is known then a description of error, otherwise "UNKNOWN ERROR"

Reimplemented from KDL::SolverI.

Definition at line 233 of file chainjnttojacdotsolver.cpp.

void KDL::ChainJntToJacDotSolver::updateInternalDataStructures ( )
virtual

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::SolverI.

Definition at line 38 of file chainjnttojacdotsolver.cpp.

Member Data Documentation

const int KDL::ChainJntToJacDotSolver::BODYFIXED = 1
static

Definition at line 58 of file chainjnttojacdotsolver.hpp.

const Chain& KDL::ChainJntToJacDotSolver::chain
private

Definition at line 168 of file chainjnttojacdotsolver.hpp.

const int KDL::ChainJntToJacDotSolver::E_FKSOLVERPOS_FAILED = -102
static

Definition at line 53 of file chainjnttojacdotsolver.hpp.

const int KDL::ChainJntToJacDotSolver::E_JAC_DOT_FAILED = -100
static

Definition at line 51 of file chainjnttojacdotsolver.hpp.

const int KDL::ChainJntToJacDotSolver::E_JACSOLVER_FAILED = -101
static

Definition at line 52 of file chainjnttojacdotsolver.hpp.

Frame KDL::ChainJntToJacDotSolver::F_bs_ee_
private

Definition at line 176 of file chainjnttojacdotsolver.hpp.

ChainFkSolverPos_recursive KDL::ChainJntToJacDotSolver::fk_solver_
private

Definition at line 175 of file chainjnttojacdotsolver.hpp.

const int KDL::ChainJntToJacDotSolver::HYBRID = 0
static

Definition at line 56 of file chainjnttojacdotsolver.hpp.

const int KDL::ChainJntToJacDotSolver::INERTIAL = 2
static

Definition at line 60 of file chainjnttojacdotsolver.hpp.

Jacobian KDL::ChainJntToJacDotSolver::jac_
private

Definition at line 172 of file chainjnttojacdotsolver.hpp.

Jacobian KDL::ChainJntToJacDotSolver::jac_dot_
private

Definition at line 173 of file chainjnttojacdotsolver.hpp.

Twist KDL::ChainJntToJacDotSolver::jac_dot_k_
private

Definition at line 177 of file chainjnttojacdotsolver.hpp.

Twist KDL::ChainJntToJacDotSolver::jac_i_
private

Definition at line 178 of file chainjnttojacdotsolver.hpp.

Twist KDL::ChainJntToJacDotSolver::jac_j_
private

Definition at line 178 of file chainjnttojacdotsolver.hpp.

ChainJntToJacSolver KDL::ChainJntToJacDotSolver::jac_solver_
private

Definition at line 171 of file chainjnttojacdotsolver.hpp.

std::vector<bool> KDL::ChainJntToJacDotSolver::locked_joints_
private

Definition at line 169 of file chainjnttojacdotsolver.hpp.

unsigned int KDL::ChainJntToJacDotSolver::nr_of_unlocked_joints_
private

Definition at line 170 of file chainjnttojacdotsolver.hpp.

int KDL::ChainJntToJacDotSolver::representation_
private

Definition at line 174 of file chainjnttojacdotsolver.hpp.

Twist KDL::ChainJntToJacDotSolver::t_djdq_
private

Definition at line 179 of file chainjnttojacdotsolver.hpp.


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


orocos_kdl
Author(s):
autogenerated on Fri Jun 14 2019 19:15:39