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;
Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to c...
Definition: chainiksolvervel_pinv.hpp:41
std::vector< JntArray > U
Definition: chainiksolvervel_pinv.hpp:106
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
unsigned int nrZeroSigmas
Definition: chainiksolvervel_pinv.hpp:112
virtual int CartToJnt(const JntArray &, const FrameVel &, JntArrayVel &)
not (yet) implemented.
Definition: chainiksolvervel_pinv.hpp:80
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
unsigned int nj
Definition: chainiksolvervel_pinv.hpp:103
int getSVDResult() const
Retrieve the latest return code from the SVD algorithm.
Definition: chainiksolvervel_pinv.hpp:93
SVD_HH svd
Definition: chainiksolvervel_pinv.hpp:105
std::vector< JntArray > V
Definition: chainiksolvervel_pinv.hpp:108
ChainJntToJacSolver jnt2jac
Definition: chainiksolvervel_pinv.hpp:102
static const int E_CONVERGE_PINV_SINGULAR
solution converged but (pseudo)inverse is singular
Definition: chainiksolvervel_pinv.hpp:44
~ChainIkSolverVel_pinv()
Definition: chainiksolvervel_pinv.cpp:57
JntArray tmp
Definition: chainiksolvervel_pinv.hpp:109
Jacobian jac
Definition: chainiksolvervel_pinv.hpp:104
double eps
Definition: chainiksolvervel_pinv.hpp:110
JntArray S
Definition: chainiksolvervel_pinv.hpp:107
virtual const char * strError(const int error) const
Return a description of the latest error.
Definition: chainiksolvervel_pinv.cpp:132
int svdResult
Definition: chainiksolvervel_pinv.hpp:113
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainiksolvervel_pinv.cpp:43
const Chain & chain
Definition: chainiksolvervel_pinv.hpp:101
int maxiter
Definition: chainiksolvervel_pinv.hpp:111
Definition: chainiksolver.hpp:66
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
Definition: chainjnttojacsolver.hpp:39
Definition: framevel.hpp:219
Definition: jacobian.hpp:37
Definition: jntarrayvel.hpp:46
Definition: jntarray.hpp:70
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:149
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:26