3 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP 4 #define KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP 11 using namespace Eigen;
50 virtual void updateInternalDataStructures();
59 MatrixXd jac_eigen,U,
V,B;
Jacobian jac
Definition: chainiksolvervel_pinv_givens.hpp:56
Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to c...
Definition: chainiksolvervel_pinv_givens.hpp:24
VectorXd v_in_eigen
Definition: chainiksolvervel_pinv_givens.hpp:60
Definition: jacobian.hpp:36
unsigned int nj
Definition: chainiksolvervel_pinv_givens.hpp:54
This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
Definition: chainjnttojacsolver.hpp:41
represents both translational and rotational velocities.
Definition: frames.hpp:720
MatrixXd V
Definition: chainiksolvervel_pinv_givens.hpp:59
Definition: articulatedbodyinertia.cpp:28
unsigned int n
Definition: chainiksolvervel_pinv_givens.hpp:58
Definition: jntarrayvel.hpp:45
const Chain & chain
Definition: chainiksolvervel_pinv_givens.hpp:53
ChainJntToJacSolver jnt2jac
Definition: chainiksolvervel_pinv_givens.hpp:55
virtual int CartToJnt(const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)
not (yet) implemented.
Definition: chainiksolvervel_pinv_givens.hpp:47
bool transpose
Definition: chainiksolvervel_pinv_givens.hpp:57
Definition: framevel.hpp:197
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
Definition: chainiksolver.hpp:66