KDL  1.4.0
chainiksolvervel_pinv_nso.hpp
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1 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 
3 // Version: 1.0
4 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // URL: http://www.orocos.org/kdl
7 
8 // This library is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU Lesser General Public
10 // License as published by the Free Software Foundation; either
11 // version 2.1 of the License, or (at your option) any later version.
12 
13 // This library is distributed in the hope that it will be useful,
14 // but WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // Lesser General Public License for more details.
17 
18 // You should have received a copy of the GNU Lesser General Public
19 // License along with this library; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21 
22 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP
23 #define KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP
24 
25 #include "chainiksolver.hpp"
26 #include "chainjnttojacsolver.hpp"
27 #include <Eigen/Core>
28 
29 namespace KDL
30 {
47  {
48  public:
63  ChainIkSolverVel_pinv_nso(const Chain& chain, const JntArray& opt_pos, const JntArray& weights, double eps=0.00001,int maxiter=150, double alpha = 0.25);
64  explicit ChainIkSolverVel_pinv_nso(const Chain& chain, double eps=0.00001,int maxiter=150, double alpha = 0.25);
66 
67  virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
72  virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out){return -1;};
73 
80  const JntArray& getWeights()const
81  {
82  return weights;
83  }
84 
91  const JntArray& getOptPos()const
92  {
93  return opt_pos;
94  }
95 
102  const double& getAlpha()const
103  {
104  return alpha;
105  }
106 
113  virtual int setWeights(const JntArray &weights);
114 
121  virtual int setOptPos(const JntArray &opt_pos);
122 
129  virtual int setAlpha(const double alpha);
130 
135  int getSVDResult()const {return svdResult;};
136 
138  virtual void updateInternalDataStructures();
139 
140  private:
141  const Chain& chain;
143  unsigned int nj;
145  Eigen::MatrixXd U;
146  Eigen::VectorXd S;
147  Eigen::VectorXd Sinv;
148  Eigen::MatrixXd V;
149  Eigen::VectorXd tmp;
150  Eigen::VectorXd tmp2;
151  double eps;
152  int maxiter;
154  double alpha;
157  };
158 }
159 #endif
160 
Jacobian jac
Definition: chainiksolvervel_pinv_nso.hpp:144
int svdResult
Definition: chainiksolvervel_pinv_nso.hpp:153
Definition: jacobian.hpp:36
~ChainIkSolverVel_pinv_nso()
Definition: chainiksolvervel_pinv_nso.cpp:79
This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
Calculate inverse velocity kinematics, from joint positions and cartesian velocity to joint velocitie...
Definition: chainiksolvervel_pinv_nso.cpp:84
JntArray weights
Definition: chainiksolvervel_pinv_nso.hpp:155
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
JntArray opt_pos
Definition: chainiksolvervel_pinv_nso.hpp:156
Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to c...
Definition: chainiksolvervel_pinv_nso.hpp:46
const double & getAlpha() const
Request null space velocity gain.
Definition: chainiksolvervel_pinv_nso.hpp:102
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
Definition: chainjnttojacsolver.hpp:41
ChainIkSolverVel_pinv_nso(const Chain &chain, const JntArray &opt_pos, const JntArray &weights, double eps=0.00001, int maxiter=150, double alpha=0.25)
Constructor of the solver.
Definition: chainiksolvervel_pinv_nso.cpp:27
represents both translational and rotational velocities.
Definition: frames.hpp:720
const Chain & chain
Definition: chainiksolvervel_pinv_nso.hpp:141
Eigen::VectorXd Sinv
Definition: chainiksolvervel_pinv_nso.hpp:147
virtual int setAlpha(const double alpha)
Set null psace velocity gain.
Definition: chainiksolvervel_pinv_nso.cpp:182
Definition: articulatedbodyinertia.cpp:28
int maxiter
Definition: chainiksolvervel_pinv_nso.hpp:152
virtual int setOptPos(const JntArray &opt_pos)
Set optimal joint positions.
Definition: chainiksolvervel_pinv_nso.cpp:174
Eigen::MatrixXd V
Definition: chainiksolvervel_pinv_nso.hpp:148
virtual int CartToJnt(const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)
not (yet) implemented.
Definition: chainiksolvervel_pinv_nso.hpp:72
Eigen::MatrixXd U
Definition: chainiksolvervel_pinv_nso.hpp:145
Eigen::VectorXd S
Definition: chainiksolvervel_pinv_nso.hpp:146
const JntArray & getOptPos() const
Request the optimal joint positions.
Definition: chainiksolvervel_pinv_nso.hpp:91
Definition: jntarrayvel.hpp:45
virtual int setWeights(const JntArray &weights)
Set joint weights for optimization criterion.
Definition: chainiksolvervel_pinv_nso.cpp:166
unsigned int nj
Definition: chainiksolvervel_pinv_nso.hpp:143
ChainJntToJacSolver jnt2jac
Definition: chainiksolvervel_pinv_nso.hpp:142
double alpha
Definition: chainiksolvervel_pinv_nso.hpp:154
Eigen::VectorXd tmp2
Definition: chainiksolvervel_pinv_nso.hpp:150
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainiksolvervel_pinv_nso.cpp:65
Definition: framevel.hpp:197
int getSVDResult() const
Retrieve the latest return code from the SVD algorithm.
Definition: chainiksolvervel_pinv_nso.hpp:135
const JntArray & getWeights() const
Request the joint weights for optimization criterion.
Definition: chainiksolvervel_pinv_nso.hpp:80
Eigen::VectorXd tmp
Definition: chainiksolvervel_pinv_nso.hpp:149
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
Definition: chainiksolver.hpp:66
double eps
Definition: chainiksolvervel_pinv_nso.hpp:151