chainiksolvervel_pinv_givens.hpp
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1 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 
3 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
4 #define KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
5 
6 #include "chainiksolver.hpp"
8 
9 #include <Eigen/Core>
10 
11 using namespace Eigen;
12 
13 namespace KDL
14 {
25  {
26  public:
27 
35  explicit ChainIkSolverVel_pinv_givens(const Chain& chain);
37 
38  virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
43  virtual int CartToJnt(const JntArray& /*q_init*/, const FrameVel& /*v_in*/, JntArrayVel& /*q_out*/){return (error = E_NOT_IMPLEMENTED);};
44 
46  virtual void updateInternalDataStructures();
47 
48  private:
49  const Chain& chain;
50  unsigned int nj;
53  bool transpose,toggle;
54  unsigned int m,n;
55  MatrixXd jac_eigen,U,V,B;
56  VectorXd S,tempi,UY,SUY,qdot_eigen,v_in_eigen;
57  };
58 }
59 #endif
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
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
virtual int CartToJnt(const JntArray &, const FrameVel &, JntArrayVel &)
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.


orocos_kdl
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autogenerated on Tue Sep 1 2020 03:18:51