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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;
double data[3]
Definition: frames.hpp:163
MatrixXd U
Definition: treeiksolvervel_wdls.hpp:87
const MatrixXd & getWeightTS() const
Definition: treeiksolvervel_wdls.hpp:77
unsigned int getNrOfJoints() const
Request the total number of joints in the tree.
Definition: tree.hpp:159
Vector rot
The rotational velocity of that point.
Definition: frames.hpp:723
Definition: jntarray.hpp:69
virtual double CartToJnt(const JntArray &q_in, const Twists &v_in, JntArray &qdot_out)
Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocit...
Definition: treeiksolvervel_wdls.cpp:50
std::map< std::string, Jacobian > Jacobians
Definition: treeiksolver.hpp:19
MatrixXd V
Definition: treeiksolvervel_wdls.hpp:87
MatrixXd Wy_J_Wq
Definition: treeiksolvervel_wdls.hpp:87
int JntToJac(const JntArray &q_in, Jacobian &jac, const std::string &segmentname)
Definition: treejnttojacsolver.cpp:21
MatrixXd Wq_V
Definition: treeiksolvervel_wdls.hpp:87
void setLambda(const double &lambda)
Definition: treeiksolvervel_wdls.cpp:46
void setWeightTS(const MatrixXd &Mx)
Definition: treeiksolvervel_wdls.cpp:42
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
Definition: treeiksolver.hpp:54
void setWeightJS(const MatrixXd &Mq)
Definition: treeiksolvervel_wdls.cpp:38
MatrixXd J_Wq
Definition: treeiksolvervel_wdls.hpp:87
double getLambda() const
Definition: treeiksolvervel_wdls.hpp:80
Definition: articulatedbodyinertia.cpp:28
virtual ~TreeIkSolverVel_wdls()
Definition: treeiksolvervel_wdls.cpp:35
VectorXd Wy_t
Definition: treeiksolvervel_wdls.hpp:88
represents both translational and rotational velocities.
Definition: frames.hpp:720
std::map< std::string, Twist > Twists
Definition: treeiksolver.hpp:18
unsigned int rows() const
Returns the number of rows (size) of the array.
Definition: jntarray.cpp:72
VectorXd t
Definition: treeiksolvervel_wdls.hpp:88
double lambda
Definition: treeiksolvervel_wdls.hpp:89
MatrixXd Wq
Definition: treeiksolvervel_wdls.hpp:87
TreeJntToJacSolver jnttojacsolver
Definition: treeiksolvervel_wdls.hpp:84
VectorXd tmp
Definition: treeiksolvervel_wdls.hpp:88
MatrixXd J
Definition: treeiksolvervel_wdls.hpp:87
MatrixXd Wy
Definition: treeiksolvervel_wdls.hpp:87
static const int E_SVD_FAILED
Definition: treeiksolvervel_wdls.hpp:21
Eigen::VectorXd data
Definition: jntarray.hpp:72
This class encapsulates a tree kinematic interconnection structure.
Definition: tree.hpp:99
const MatrixXd & getWeightJS() const
Definition: treeiksolvervel_wdls.hpp:51
Vector vel
The velocity of that point.
Definition: frames.hpp:722
VectorXd S
Definition: treeiksolvervel_wdls.hpp:88
MatrixXd Wy_U
Definition: treeiksolvervel_wdls.hpp:87
Definition: treeiksolvervel_wdls.hpp:19
Tree tree
Definition: treeiksolvervel_wdls.hpp:83
TreeIkSolverVel_wdls(const Tree &tree, const std::vector< std::string > &endpoints)
Child SVD failed.
Definition: treeiksolvervel_wdls.cpp:14
Definition: treejnttojacsolver.hpp:17
Jacobians jacobians
Definition: treeiksolvervel_wdls.hpp:85
Definition: jacobian.hpp:36