KDL  1.4.0
Public Member Functions | Static Public Attributes | Private Attributes | List of all members
KDL::TreeIkSolverVel_wdls Class Reference

#include <src/treeiksolvervel_wdls.hpp>

Inheritance diagram for KDL::TreeIkSolverVel_wdls:
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Public Member Functions

 TreeIkSolverVel_wdls (const Tree &tree, const std::vector< std::string > &endpoints)
 Child SVD failed. More...
 
virtual ~TreeIkSolverVel_wdls ()
 
virtual double CartToJnt (const JntArray &q_in, const Twists &v_in, JntArray &qdot_out)
 Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocities. More...
 
void setWeightJS (const MatrixXd &Mq)
 
const MatrixXd & getWeightJS () const
 
void setWeightTS (const MatrixXd &Mx)
 
const MatrixXd & getWeightTS () const
 
void setLambda (const double &lambda)
 
double getLambda () const
 

Static Public Attributes

static const int E_SVD_FAILED = -100
 

Private Attributes

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

Constructor & Destructor Documentation

§ TreeIkSolverVel_wdls()

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

Child SVD failed.

References KDL::Tree::getNrOfJoints(), jacobians, and tree.

§ ~TreeIkSolverVel_wdls()

KDL::TreeIkSolverVel_wdls::~TreeIkSolverVel_wdls ( )
virtual

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.

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 ( ) const
inline

§ getWeightJS()

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

§ getWeightTS()

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

§ setLambda()

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

References lambda.

§ setWeightJS()

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

References Wq.

§ setWeightTS()

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

References Wy.

Member Data Documentation

§ E_SVD_FAILED

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

Referenced by CartToJnt().

§ J

MatrixXd KDL::TreeIkSolverVel_wdls::J
private

Referenced by CartToJnt().

§ J_Wq

MatrixXd KDL::TreeIkSolverVel_wdls::J_Wq
private

Referenced by CartToJnt().

§ jacobians

Jacobians KDL::TreeIkSolverVel_wdls::jacobians
private

Referenced by CartToJnt(), and TreeIkSolverVel_wdls().

§ jnttojacsolver

TreeJntToJacSolver KDL::TreeIkSolverVel_wdls::jnttojacsolver
private

Referenced by CartToJnt().

§ lambda

double KDL::TreeIkSolverVel_wdls::lambda
private

Referenced by CartToJnt(), and setLambda().

§ qdot

VectorXd KDL::TreeIkSolverVel_wdls::qdot
private

§ S

VectorXd KDL::TreeIkSolverVel_wdls::S
private

Referenced by CartToJnt().

§ t

VectorXd KDL::TreeIkSolverVel_wdls::t
private

Referenced by CartToJnt().

§ tmp

VectorXd KDL::TreeIkSolverVel_wdls::tmp
private

Referenced by CartToJnt().

§ tree

Tree KDL::TreeIkSolverVel_wdls::tree
private

Referenced by CartToJnt(), and TreeIkSolverVel_wdls().

§ U

MatrixXd KDL::TreeIkSolverVel_wdls::U
private

Referenced by CartToJnt().

§ V

MatrixXd KDL::TreeIkSolverVel_wdls::V
private

Referenced by CartToJnt().

§ Wq

MatrixXd KDL::TreeIkSolverVel_wdls::Wq
private

Referenced by CartToJnt(), and setWeightJS().

§ Wq_V

MatrixXd KDL::TreeIkSolverVel_wdls::Wq_V
private

Referenced by CartToJnt().

§ Wy

MatrixXd KDL::TreeIkSolverVel_wdls::Wy
private

Referenced by CartToJnt(), and setWeightTS().

§ Wy_J_Wq

MatrixXd KDL::TreeIkSolverVel_wdls::Wy_J_Wq
private

Referenced by CartToJnt().

§ Wy_t

VectorXd KDL::TreeIkSolverVel_wdls::Wy_t
private

Referenced by CartToJnt().

§ Wy_U

MatrixXd KDL::TreeIkSolverVel_wdls::Wy_U
private

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