22 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_HPP 23 #define KDL_CHAIN_IKSOLVERVEL_PINV_HPP 27 #include "utilities/svd_HH.hpp" 106 std::vector<JntArray>
U;
108 std::vector<JntArray>
V;
unsigned int nj
Definition: chainiksolvervel_pinv.hpp:103
std::vector< JntArray > V
Definition: chainiksolvervel_pinv.hpp:108
Definition: jacobian.hpp:36
double eps
Definition: chainiksolvervel_pinv.hpp:110
This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
JntArray tmp
Definition: chainiksolvervel_pinv.hpp:109
const Chain & chain
Definition: chainiksolvervel_pinv.hpp:101
unsigned int getNrZeroSigmas() const
Retrieve the number of singular values of the jacobian that are < eps; if the number of near zero sin...
Definition: chainiksolvervel_pinv.hpp:87
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
Find an output joint velocity qdot_out, given a starting joint pose q_init and a desired cartesian ve...
Definition: chainiksolvervel_pinv.cpp:62
ChainJntToJacSolver jnt2jac
Definition: chainiksolvervel_pinv.hpp:102
ChainIkSolverVel_pinv(const Chain &chain, double eps=0.00001, int maxiter=150)
Constructor of the solver.
Definition: chainiksolvervel_pinv.cpp:26
JntArray S
Definition: chainiksolvervel_pinv.hpp:107
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
Definition: chainjnttojacsolver.hpp:41
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainiksolvervel_pinv.cpp:43
represents both translational and rotational velocities.
Definition: frames.hpp:720
SVD_HH svd
Definition: chainiksolvervel_pinv.hpp:105
static const int E_CONVERGE_PINV_SINGULAR
solution converged but (pseudo)inverse is singular
Definition: chainiksolvervel_pinv.hpp:44
Definition: articulatedbodyinertia.cpp:28
~ChainIkSolverVel_pinv()
Definition: chainiksolvervel_pinv.cpp:57
unsigned int nrZeroSigmas
Definition: chainiksolvervel_pinv.hpp:112
Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to c...
Definition: chainiksolvervel_pinv.hpp:40
Definition: jntarrayvel.hpp:45
Jacobian jac
Definition: chainiksolvervel_pinv.hpp:104
int getSVDResult() const
Retrieve the latest return code from the SVD algorithm.
Definition: chainiksolvervel_pinv.hpp:93
std::vector< JntArray > U
Definition: chainiksolvervel_pinv.hpp:106
virtual int CartToJnt(const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)
not (yet) implemented.
Definition: chainiksolvervel_pinv.hpp:80
virtual const char * strError(const int error) const
Return a description of the latest error.
Definition: chainiksolvervel_pinv.cpp:132
Definition: framevel.hpp:197
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:149
int maxiter
Definition: chainiksolvervel_pinv.hpp:111
int svdResult
Definition: chainiksolvervel_pinv.hpp:113
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
Definition: chainiksolver.hpp:66