#include <src/treeiksolvervel_wdls.hpp>
§ TreeIkSolverVel_wdls()
KDL::TreeIkSolverVel_wdls::TreeIkSolverVel_wdls |
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const Tree & |
tree, |
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const std::vector< std::string > & |
endpoints |
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) |
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§ ~TreeIkSolverVel_wdls()
KDL::TreeIkSolverVel_wdls::~TreeIkSolverVel_wdls |
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virtual |
§ CartToJnt()
double KDL::TreeIkSolverVel_wdls::CartToJnt |
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const JntArray & |
q_in, |
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const Twists & |
v_in, |
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JntArray & |
qdot_out |
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) |
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virtual |
Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocities.
- Parameters
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q_in | input joint positions |
v_in | input cartesian velocity |
qdot_out | output joint velocities |
- Returns
- if < 0 something went wrong distance to goal otherwise (weighted norm of v_in)
Implements KDL::TreeIkSolverVel.
References KDL::JntArray::data, E_SVD_FAILED, KDL::Tree::getNrOfJoints(), J, J_Wq, jacobians, KDL::TreeJntToJacSolver::JntToJac(), jnttojacsolver, lambda, KDL::JntArray::rows(), S, t, tmp, tree, U, V, Wq, Wq_V, Wy, Wy_J_Wq, and Wy_t.
§ getLambda()
double KDL::TreeIkSolverVel_wdls::getLambda |
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const |
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inline |
§ getWeightJS()
const MatrixXd& KDL::TreeIkSolverVel_wdls::getWeightJS |
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const |
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inline |
§ getWeightTS()
const MatrixXd& KDL::TreeIkSolverVel_wdls::getWeightTS |
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const |
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inline |
§ setLambda()
void KDL::TreeIkSolverVel_wdls::setLambda |
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const double & |
lambda | ) |
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§ setWeightJS()
void KDL::TreeIkSolverVel_wdls::setWeightJS |
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const MatrixXd & |
Mq | ) |
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§ setWeightTS()
void KDL::TreeIkSolverVel_wdls::setWeightTS |
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const MatrixXd & |
Mx | ) |
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§ E_SVD_FAILED
const int KDL::TreeIkSolverVel_wdls::E_SVD_FAILED = -100 |
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static |
MatrixXd KDL::TreeIkSolverVel_wdls::J |
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private |
§ J_Wq
MatrixXd KDL::TreeIkSolverVel_wdls::J_Wq |
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§ jacobians
Jacobians KDL::TreeIkSolverVel_wdls::jacobians |
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§ jnttojacsolver
§ lambda
double KDL::TreeIkSolverVel_wdls::lambda |
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private |
§ qdot
VectorXd KDL::TreeIkSolverVel_wdls::qdot |
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private |
VectorXd KDL::TreeIkSolverVel_wdls::S |
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VectorXd KDL::TreeIkSolverVel_wdls::t |
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§ tmp
VectorXd KDL::TreeIkSolverVel_wdls::tmp |
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§ tree
Tree KDL::TreeIkSolverVel_wdls::tree |
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MatrixXd KDL::TreeIkSolverVel_wdls::U |
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MatrixXd KDL::TreeIkSolverVel_wdls::V |
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§ Wq
MatrixXd KDL::TreeIkSolverVel_wdls::Wq |
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§ Wq_V
MatrixXd KDL::TreeIkSolverVel_wdls::Wq_V |
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§ Wy
MatrixXd KDL::TreeIkSolverVel_wdls::Wy |
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§ Wy_J_Wq
MatrixXd KDL::TreeIkSolverVel_wdls::Wy_J_Wq |
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private |
§ Wy_t
VectorXd KDL::TreeIkSolverVel_wdls::Wy_t |
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private |
§ Wy_U
MatrixXd KDL::TreeIkSolverVel_wdls::Wy_U |
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private |
The documentation for this class was generated from the following files: