8 #ifndef TREEIKSOLVERVEL_WDLS_HPP_ 9 #define TREEIKSOLVERVEL_WDLS_HPP_ 17 using namespace Eigen;
21 static const int E_SVD_FAILED = -100;
50 void setWeightJS(
const MatrixXd& Mq);
76 void setWeightTS(
const MatrixXd& Mx);
79 void setLambda(
const double& lambda);
87 MatrixXd J, Wy, Wq, J_Wq, Wy_J_Wq, U, V,
Wy_U, Wq_V;
88 VectorXd t,
Wy_t, qdot, tmp, S;
Jacobians jacobians
Definition: treeiksolvervel_wdls.hpp:85
TreeJntToJacSolver jnttojacsolver
Definition: treeiksolvervel_wdls.hpp:84
const MatrixXd & getWeightTS() const
Definition: treeiksolvervel_wdls.hpp:77
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
MatrixXd Wy_U
Definition: treeiksolvervel_wdls.hpp:87
Definition: treeiksolvervel_wdls.hpp:19
std::map< std::string, Jacobian > Jacobians
Definition: treeiksolver.hpp:19
double getLambda() const
Definition: treeiksolvervel_wdls.hpp:80
Definition: articulatedbodyinertia.cpp:28
const MatrixXd & getWeightJS() const
Definition: treeiksolvervel_wdls.hpp:51
double lambda
Definition: treeiksolvervel_wdls.hpp:89
Definition: treejnttojacsolver.hpp:17
VectorXd Wy_t
Definition: treeiksolvervel_wdls.hpp:88
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
Definition: treeiksolver.hpp:54
std::map< std::string, Twist > Twists
Definition: treeiksolver.hpp:18
Tree tree
Definition: treeiksolvervel_wdls.hpp:83
This class encapsulates a tree kinematic interconnection structure.
Definition: tree.hpp:99