KDL 1.5.1
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chainiksolvervel_pinv_givens.hpp
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1// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2
3#ifndef KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
4#define KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
5
6#include "chainiksolver.hpp"
8
9#include <Eigen/Core>
10
11namespace KDL
12{
23 {
24 public:
25
35
36 virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
41 virtual int CartToJnt(const JntArray& /*q_init*/, const FrameVel& /*v_in*/, JntArrayVel& /*q_out*/){return (error = E_NOT_IMPLEMENTED);};
42
44 virtual void updateInternalDataStructures();
45
46 private:
47 const Chain& chain;
48 unsigned int nj;
52 unsigned int m,n;
53 Eigen::MatrixXd jac_eigen,U,V,B;
54 Eigen::VectorXd S,tempi,UY,SUY,qdot_eigen,v_in_eigen;
55 };
56}
57#endif
Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to c...
Definition: chainiksolvervel_pinv_givens.hpp:23
Eigen::VectorXd SUY
Definition: chainiksolvervel_pinv_givens.hpp:54
ChainJntToJacSolver jnt2jac
Definition: chainiksolvervel_pinv_givens.hpp:49
Eigen::VectorXd v_in_eigen
Definition: chainiksolvervel_pinv_givens.hpp:54
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_givens.cpp:70
Eigen::VectorXd UY
Definition: chainiksolvervel_pinv_givens.hpp:54
~ChainIkSolverVel_pinv_givens()
Definition: chainiksolvervel_pinv_givens.cpp:65
bool transpose
Definition: chainiksolvervel_pinv_givens.hpp:51
Eigen::MatrixXd jac_eigen
Definition: chainiksolvervel_pinv_givens.hpp:53
const Chain & chain
Definition: chainiksolvervel_pinv_givens.hpp:47
unsigned int n
Definition: chainiksolvervel_pinv_givens.hpp:52
Eigen::MatrixXd V
Definition: chainiksolvervel_pinv_givens.hpp:53
unsigned int nj
Definition: chainiksolvervel_pinv_givens.hpp:48
Jacobian jac
Definition: chainiksolvervel_pinv_givens.hpp:50
virtual int CartToJnt(const JntArray &, const FrameVel &, JntArrayVel &)
not (yet) implemented.
Definition: chainiksolvervel_pinv_givens.hpp:41
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainiksolvervel_pinv_givens.cpp:48
unsigned int m
Definition: chainiksolvervel_pinv_givens.hpp:52
Eigen::VectorXd S
Definition: chainiksolvervel_pinv_givens.hpp:54
Eigen::MatrixXd B
Definition: chainiksolvervel_pinv_givens.hpp:53
Eigen::VectorXd tempi
Definition: chainiksolvervel_pinv_givens.hpp:54
Eigen::VectorXd qdot_eigen
Definition: chainiksolvervel_pinv_givens.hpp:54
bool toggle
Definition: chainiksolvervel_pinv_givens.hpp:51
Eigen::MatrixXd U
Definition: chainiksolvervel_pinv_givens.hpp:53
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: chain.hpp:35
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
@ E_NOT_IMPLEMENTED
Not yet implemented.
Definition: solveri.hpp:105
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:26