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9 int main(
int ,
char ** )
19 const double eps = 1e-4;
21 const double DT = 1e-1;
22 const double damp = 1e-12;
25 joint_jacobian.setZero();
29 Eigen::VectorXd
v(
model.nv);
47 const auto J = -joint_jacobian.topRows<3>();
48 const Eigen::Matrix3d JJt =
J *
J.transpose() +
damp * Eigen::Matrix3d::Identity();
49 v.noalias() = -
J.transpose() * JJt.ldlt().solve(
err);
52 std::cout <<
i <<
": error = " <<
err.transpose() << std::endl;
57 std::cout <<
"Convergence achieved!" << std::endl;
62 <<
"\nWarning: the iterative algorithm has not reached convergence to the desired precision"
66 std::cout <<
"\nresult: " <<
q.transpose() << std::endl;
67 std::cout <<
"\nfinal error: " <<
err.transpose() << std::endl;
void forwardKinematics(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q)
Update the joint placements according to the current joint configuration.
void manipulator(ModelTpl< Scalar, Options, JointCollectionTpl > &model)
Create a 6-DOF kinematic chain shoulder-elbow-wrist.
void integrate(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< ReturnType > &qout)
Integrate a configuration vector for the specified model for a tangent vector during one unit time.
void computeJointJacobian(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q, const JointIndex joint_id, const Eigen::MatrixBase< Matrix6Like > &J)
Computes the Jacobian of a specific joint frame expressed in the local frame of the joint and store t...
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
The 6d jacobian type (temporary)
void neutral(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ReturnType > &qout)
Return the neutral configuration element related to the model configuration space.
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:09