chainiksolvervel_pinv_nso.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_NSO_HPP
00023 #define KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP
00024 
00025 #include "chainiksolver.hpp"
00026 #include "chainjnttojacsolver.hpp"
00027 #include <Eigen/Core>
00028 
00029 namespace KDL
00030 {
00046     class ChainIkSolverVel_pinv_nso : public ChainIkSolverVel
00047     {
00048     public:
00063         ChainIkSolverVel_pinv_nso(const Chain& chain, const JntArray& opt_pos, const JntArray& weights, double eps=0.00001,int maxiter=150, double alpha = 0.25);
00064         explicit ChainIkSolverVel_pinv_nso(const Chain& chain, double eps=0.00001,int maxiter=150, double alpha = 0.25);
00065         ~ChainIkSolverVel_pinv_nso();
00066 
00067         virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
00072         virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out){return -1;};
00073 
00080         const JntArray& getWeights()const
00081         {
00082             return weights;
00083         }
00084 
00091         const JntArray& getOptPos()const
00092         {
00093             return opt_pos;
00094         }
00095 
00102         const double& getAlpha()const
00103         {
00104             return alpha;
00105         }
00106 
00113         virtual int setWeights(const JntArray &weights);
00114 
00121         virtual int setOptPos(const JntArray &opt_pos);
00122 
00129         virtual int setAlpha(const double alpha);
00130 
00135         int getSVDResult()const {return svdResult;};
00136 
00138         virtual void updateInternalDataStructures();
00139 
00140     private:
00141         const Chain& chain;
00142         ChainJntToJacSolver jnt2jac;
00143         unsigned int nj;
00144         Jacobian jac;
00145         Eigen::MatrixXd U;
00146         Eigen::VectorXd S;
00147         Eigen::VectorXd Sinv;
00148         Eigen::MatrixXd V;
00149         Eigen::VectorXd tmp;
00150         Eigen::VectorXd tmp2;
00151         double eps;
00152         int maxiter;
00153         int svdResult;
00154         double alpha;
00155         JntArray weights;
00156         JntArray opt_pos;
00157     };
00158 }
00159 #endif
00160 


orocos_kdl
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autogenerated on Fri Jun 14 2019 19:33:22