KDL 1.5.1
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Public Member Functions | Static Public Attributes | Private Attributes | List of all members
KDL::TreeIkSolverVel_wdls Class Reference

#include <src/treeiksolvervel_wdls.hpp>

Inheritance diagram for KDL::TreeIkSolverVel_wdls:
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Collaboration diagram for KDL::TreeIkSolverVel_wdls:
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Public Member Functions

 TreeIkSolverVel_wdls (const Tree &tree, const std::vector< std::string > &endpoints)
 Child SVD failed. More...
 
virtual ~TreeIkSolverVel_wdls ()
 
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 velocities. More...
 
void setWeightJS (const Eigen::MatrixXd &Mq)
 
const Eigen::MatrixXd & getWeightJS () const
 
void setWeightTS (const Eigen::MatrixXd &Mx)
 
const Eigen::MatrixXd & getWeightTS () const
 
void setLambda (const double &lambda)
 
double getLambda () const
 

Static Public Attributes

static const int E_SVD_FAILED = -100
 

Private Attributes

Tree tree
 
TreeJntToJacSolver jnttojacsolver
 
Jacobians jacobians
 
Eigen::MatrixXd J
 
Eigen::MatrixXd Wy
 
Eigen::MatrixXd Wq
 
Eigen::MatrixXd J_Wq
 
Eigen::MatrixXd Wy_J_Wq
 
Eigen::MatrixXd U
 
Eigen::MatrixXd V
 
Eigen::MatrixXd Wy_U
 
Eigen::MatrixXd Wq_V
 
Eigen::VectorXd t
 
Eigen::VectorXd Wy_t
 
Eigen::VectorXd qdot
 
Eigen::VectorXd tmp
 
Eigen::VectorXd S
 
double lambda
 

Constructor & Destructor Documentation

◆ TreeIkSolverVel_wdls()

KDL::TreeIkSolverVel_wdls::TreeIkSolverVel_wdls ( const Tree tree,
const std::vector< std::string > &  endpoints 
)

Child SVD failed.

References KDL::Tree::getNrOfJoints(), jacobians, and tree.

◆ ~TreeIkSolverVel_wdls()

KDL::TreeIkSolverVel_wdls::~TreeIkSolverVel_wdls ( )
virtual

Member Function Documentation

◆ CartToJnt()

double KDL::TreeIkSolverVel_wdls::CartToJnt ( const JntArray q_in,
const Twists v_in,
JntArray qdot_out 
)
virtual

Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocities.

Parameters
q_ininput joint positions
v_ininput cartesian velocity
qdot_outoutput joint velocities
Returns
if < 0 something went wrong distance to goal otherwise (weighted norm of v_in)

Implements KDL::TreeIkSolverVel.

References KDL::Vector::data, KDL::JntArray::data, E_SVD_FAILED, KDL::Tree::getNrOfJoints(), J, J_Wq, jacobians, KDL::TreeJntToJacSolver::JntToJac(), jnttojacsolver, lambda, KDL::Twist::rot, KDL::JntArray::rows(), S, t, tmp, tree, U, V, KDL::Twist::vel, Wq, Wq_V, Wy, Wy_J_Wq, and Wy_t.

◆ getLambda()

double KDL::TreeIkSolverVel_wdls::getLambda ( ) const
inline

References lambda.

◆ getWeightJS()

const Eigen::MatrixXd & KDL::TreeIkSolverVel_wdls::getWeightJS ( ) const
inline

References Wq.

◆ getWeightTS()

const Eigen::MatrixXd & KDL::TreeIkSolverVel_wdls::getWeightTS ( ) const
inline

References Wy.

◆ setLambda()

void KDL::TreeIkSolverVel_wdls::setLambda ( const double &  lambda)

References lambda.

◆ setWeightJS()

void KDL::TreeIkSolverVel_wdls::setWeightJS ( const Eigen::MatrixXd &  Mq)

References Wq.

◆ setWeightTS()

void KDL::TreeIkSolverVel_wdls::setWeightTS ( const Eigen::MatrixXd &  Mx)

References Wy.

Member Data Documentation

◆ E_SVD_FAILED

const int KDL::TreeIkSolverVel_wdls::E_SVD_FAILED = -100
static

Referenced by CartToJnt().

◆ J

Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::J
private

Referenced by CartToJnt().

◆ J_Wq

Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::J_Wq
private

Referenced by CartToJnt().

◆ jacobians

Jacobians KDL::TreeIkSolverVel_wdls::jacobians
private

Referenced by CartToJnt(), and TreeIkSolverVel_wdls().

◆ jnttojacsolver

TreeJntToJacSolver KDL::TreeIkSolverVel_wdls::jnttojacsolver
private

Referenced by CartToJnt().

◆ lambda

double KDL::TreeIkSolverVel_wdls::lambda
private

Referenced by CartToJnt(), getLambda(), and setLambda().

◆ qdot

Eigen::VectorXd KDL::TreeIkSolverVel_wdls::qdot
private

◆ S

Eigen::VectorXd KDL::TreeIkSolverVel_wdls::S
private

Referenced by CartToJnt().

◆ t

Eigen::VectorXd KDL::TreeIkSolverVel_wdls::t
private

Referenced by CartToJnt().

◆ tmp

Eigen::VectorXd KDL::TreeIkSolverVel_wdls::tmp
private

Referenced by CartToJnt().

◆ tree

Tree KDL::TreeIkSolverVel_wdls::tree
private

Referenced by CartToJnt(), and TreeIkSolverVel_wdls().

◆ U

Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::U
private

Referenced by CartToJnt().

◆ V

Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::V
private

Referenced by CartToJnt().

◆ Wq

Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::Wq
private

Referenced by CartToJnt(), getWeightJS(), and setWeightJS().

◆ Wq_V

Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::Wq_V
private

Referenced by CartToJnt().

◆ Wy

Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::Wy
private

Referenced by CartToJnt(), getWeightTS(), and setWeightTS().

◆ Wy_J_Wq

Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::Wy_J_Wq
private

Referenced by CartToJnt().

◆ Wy_t

Eigen::VectorXd KDL::TreeIkSolverVel_wdls::Wy_t
private

Referenced by CartToJnt().

◆ Wy_U

Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::Wy_U
private

The documentation for this class was generated from the following files: