29 nj(chain.getNrOfJoints()),
32 transpose(nj>6),toggle(true),
36 U(MatrixXd::Identity(m,m)),
37 V(MatrixXd::Identity(n,n)),
42 UY(VectorXd::Zero(6)),
43 SUY(VectorXd::Zero(nj)),
57 U.conservativeResizeLike(MatrixXd::Identity(
m,
m));
58 V.conservativeResizeLike(MatrixXd::Identity(
n,
n));
59 B.conservativeResize(
m,
n);
60 S.conservativeResize(
n);
61 tempi.conservativeResize(
m);
62 tempj.conservativeResize(
n);
63 SUY.conservativeResizeLike(VectorXd::Zero(
nj));
86 for(
unsigned int i=0;i<6;i++)
89 for(
unsigned int i=0;i<
m;i++){
90 for(
unsigned int j=0;j<
n;j++)
103 for (
unsigned int i = 0; i <
n; i++){
unsigned int rows() const
void resize(unsigned int newNrOfColumns)
Allocates memory for new size (can break realtime behavior)
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
This class represents an fixed size array containing joint values of a KDL::Chain.
~ChainIkSolverVel_pinv_givens()
int svd_eigen_Macie(const MatrixXd &A, MatrixXd &U, VectorXd &S, MatrixXd &V, MatrixXd &B, VectorXd &tempi, double threshold, bool toggle)
ChainIkSolverVel_pinv_givens(const Chain &chain)
Input size does not match internal state.
represents both translational and rotational velocities.
virtual void updateInternalDataStructures()
virtual int JntToJac(const JntArray &q_in, Jacobian &jac, int segmentNR=-1)
double min(double a, double b)
unsigned int getNrOfJoints() const
ChainJntToJacSolver jnt2jac
int error
Latest error, initialized to E_NOERROR in constructor.
double max(double a, double b)
virtual void updateInternalDataStructures()
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)