22 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP 23 #define KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP 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