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

#include <treeiksolvervel_wdls.hpp>

Inheritance diagram for KDL::TreeIkSolverVel_wdls:
Inheritance graph
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Public Member Functions

virtual double CartToJnt (const JntArray &q_in, const Twists &v_in, JntArray &qdot_out)
 
double getLambda () const
 
const MatrixXd & getWeightJS () const
 
const MatrixXd & getWeightTS () const
 
void setLambda (const double &lambda)
 
void setWeightJS (const MatrixXd &Mq)
 
void setWeightTS (const MatrixXd &Mx)
 
 TreeIkSolverVel_wdls (const Tree &tree, const std::vector< std::string > &endpoints)
 Child SVD failed. More...
 
virtual ~TreeIkSolverVel_wdls ()
 
- Public Member Functions inherited from KDL::TreeIkSolverVel
virtual ~TreeIkSolverVel ()
 

Static Public Attributes

static const int E_SVD_FAILED = -100
 

Private Attributes

MatrixXd J
 
MatrixXd J_Wq
 
Jacobians jacobians
 
TreeJntToJacSolver jnttojacsolver
 
double lambda
 
VectorXd qdot
 
VectorXd S
 
VectorXd t
 
VectorXd tmp
 
Tree tree
 
MatrixXd U
 
MatrixXd V
 
MatrixXd Wq
 
MatrixXd Wq_V
 
MatrixXd Wy
 
MatrixXd Wy_J_Wq
 
VectorXd Wy_t
 
MatrixXd Wy_U
 

Detailed Description

Definition at line 19 of file treeiksolvervel_wdls.hpp.

Constructor & Destructor Documentation

◆ TreeIkSolverVel_wdls()

KDL::TreeIkSolverVel_wdls::TreeIkSolverVel_wdls ( const Tree tree,
const std::vector< std::string > &  endpoints 
)

Child SVD failed.

Definition at line 14 of file treeiksolvervel_wdls.cpp.

◆ ~TreeIkSolverVel_wdls()

KDL::TreeIkSolverVel_wdls::~TreeIkSolverVel_wdls ( )
virtual

Definition at line 35 of file treeiksolvervel_wdls.cpp.

Member Function Documentation

◆ CartToJnt()

double KDL::TreeIkSolverVel_wdls::CartToJnt ( const JntArray q_in,
const Twists v_in,
JntArray qdot_out 
)
virtual

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

Parameters
q_ininput joint positions
v_ininput cartesian velocity
qdot_outoutput joint velocities
Returns
if < 0 something went wrong distance to goal otherwise (weighted norm of v_in)

Implements KDL::TreeIkSolverVel.

Definition at line 50 of file treeiksolvervel_wdls.cpp.

◆ getLambda()

double KDL::TreeIkSolverVel_wdls::getLambda ( ) const
inline

Definition at line 80 of file treeiksolvervel_wdls.hpp.

◆ getWeightJS()

const MatrixXd& KDL::TreeIkSolverVel_wdls::getWeightJS ( ) const
inline

Definition at line 51 of file treeiksolvervel_wdls.hpp.

◆ getWeightTS()

const MatrixXd& KDL::TreeIkSolverVel_wdls::getWeightTS ( ) const
inline

Definition at line 77 of file treeiksolvervel_wdls.hpp.

◆ setLambda()

void KDL::TreeIkSolverVel_wdls::setLambda ( const double &  lambda)

Definition at line 46 of file treeiksolvervel_wdls.cpp.

◆ setWeightJS()

void KDL::TreeIkSolverVel_wdls::setWeightJS ( const MatrixXd &  Mq)

Definition at line 38 of file treeiksolvervel_wdls.cpp.

◆ setWeightTS()

void KDL::TreeIkSolverVel_wdls::setWeightTS ( const MatrixXd &  Mx)

Definition at line 42 of file treeiksolvervel_wdls.cpp.

Member Data Documentation

◆ E_SVD_FAILED

const int KDL::TreeIkSolverVel_wdls::E_SVD_FAILED = -100
static

Definition at line 21 of file treeiksolvervel_wdls.hpp.

◆ J

MatrixXd KDL::TreeIkSolverVel_wdls::J
private

Definition at line 87 of file treeiksolvervel_wdls.hpp.

◆ J_Wq

MatrixXd KDL::TreeIkSolverVel_wdls::J_Wq
private

Definition at line 87 of file treeiksolvervel_wdls.hpp.

◆ jacobians

Jacobians KDL::TreeIkSolverVel_wdls::jacobians
private

Definition at line 85 of file treeiksolvervel_wdls.hpp.

◆ jnttojacsolver

TreeJntToJacSolver KDL::TreeIkSolverVel_wdls::jnttojacsolver
private

Definition at line 84 of file treeiksolvervel_wdls.hpp.

◆ lambda

double KDL::TreeIkSolverVel_wdls::lambda
private

Definition at line 89 of file treeiksolvervel_wdls.hpp.

◆ qdot

VectorXd KDL::TreeIkSolverVel_wdls::qdot
private

Definition at line 88 of file treeiksolvervel_wdls.hpp.

◆ S

VectorXd KDL::TreeIkSolverVel_wdls::S
private

Definition at line 88 of file treeiksolvervel_wdls.hpp.

◆ t

VectorXd KDL::TreeIkSolverVel_wdls::t
private

Definition at line 88 of file treeiksolvervel_wdls.hpp.

◆ tmp

VectorXd KDL::TreeIkSolverVel_wdls::tmp
private

Definition at line 88 of file treeiksolvervel_wdls.hpp.

◆ tree

Tree KDL::TreeIkSolverVel_wdls::tree
private

Definition at line 83 of file treeiksolvervel_wdls.hpp.

◆ U

MatrixXd KDL::TreeIkSolverVel_wdls::U
private

Definition at line 87 of file treeiksolvervel_wdls.hpp.

◆ V

MatrixXd KDL::TreeIkSolverVel_wdls::V
private

Definition at line 87 of file treeiksolvervel_wdls.hpp.

◆ Wq

MatrixXd KDL::TreeIkSolverVel_wdls::Wq
private

Definition at line 87 of file treeiksolvervel_wdls.hpp.

◆ Wq_V

MatrixXd KDL::TreeIkSolverVel_wdls::Wq_V
private

Definition at line 87 of file treeiksolvervel_wdls.hpp.

◆ Wy

MatrixXd KDL::TreeIkSolverVel_wdls::Wy
private

Definition at line 87 of file treeiksolvervel_wdls.hpp.

◆ Wy_J_Wq

MatrixXd KDL::TreeIkSolverVel_wdls::Wy_J_Wq
private

Definition at line 87 of file treeiksolvervel_wdls.hpp.

◆ Wy_t

VectorXd KDL::TreeIkSolverVel_wdls::Wy_t
private

Definition at line 88 of file treeiksolvervel_wdls.hpp.

◆ Wy_U

MatrixXd KDL::TreeIkSolverVel_wdls::Wy_U
private

Definition at line 87 of file treeiksolvervel_wdls.hpp.


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


orocos_kdl
Author(s):
autogenerated on Wed Jul 1 2020 03:17:40