chainiksolvervel_pinv.hpp
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00001 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_HPP
00023 #define KDL_CHAIN_IKSOLVERVEL_PINV_HPP
00024 
00025 #include "chainiksolver.hpp"
00026 #include "chainjnttojacsolver.hpp"
00027 #include "utilities/svd_HH.hpp"
00028 
00029 namespace KDL
00030 {
00040     class ChainIkSolverVel_pinv : public ChainIkSolverVel
00041     {
00042     public:
00043         static const int E_SVD_FAILED = -100; 
00044 
00045         static const int E_CONVERGE_PINV_SINGULAR = +100;
00046 
00058         explicit ChainIkSolverVel_pinv(const Chain& chain,double eps=0.00001,int maxiter=150);
00059         ~ChainIkSolverVel_pinv();
00060 
00076         virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
00081         virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out){return -1;};
00082 
00088         unsigned int getNrZeroSigmas()const {return nrZeroSigmas;};
00089 
00094         int getSVDResult()const {return svdResult;};
00095 
00097         virtual const char* strError(const int error) const;
00098 
00099     private:
00100         const Chain chain;
00101         ChainJntToJacSolver jnt2jac;
00102         Jacobian jac;
00103         SVD_HH svd;
00104         std::vector<JntArray> U;
00105         JntArray S;
00106         std::vector<JntArray> V;
00107         JntArray tmp;
00108         double eps;
00109         int maxiter;
00110         unsigned int nrZeroSigmas;
00111         int svdResult;
00112 
00113     };
00114 }
00115 #endif
00116 


orocos_kdl
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autogenerated on Wed Aug 26 2015 15:14:14