Go to the documentation of this file.
22 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP
23 #define KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP
double eps
Definition: chainiksolvervel_pinv_nso.hpp:151
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainiksolvervel_pinv_nso.cpp:65
const JntArray & getWeights() const
Request the joint weights for optimization criterion.
Definition: chainiksolvervel_pinv_nso.hpp:80
Definition: jntarray.hpp:70
int svdResult
Definition: chainiksolvervel_pinv_nso.hpp:153
virtual int setAlpha(const double alpha)
Set null psace velocity gain.
Definition: chainiksolvervel_pinv_nso.cpp:182
@ E_NOT_UP_TO_DATE
Chain size changed.
Definition: solveri.hpp:97
virtual int CartToJnt(const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)
not (yet) implemented.
Definition: chainiksolvervel_pinv_nso.hpp:72
JntArray weights
Definition: chainiksolvervel_pinv_nso.hpp:155
Eigen::MatrixXd V
Definition: chainiksolvervel_pinv_nso.hpp:148
Definition: articulatedbodyinertia.cpp:28
const Chain & chain
Definition: chainiksolvervel_pinv_nso.hpp:141
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
virtual int setOptPos(const JntArray &opt_pos)
Set optimal joint positions.
Definition: chainiksolvervel_pinv_nso.cpp:174
int maxiter
Definition: chainiksolvervel_pinv_nso.hpp:152
void resize(unsigned int newNrOfColumns)
Allocates memory for new size (can break realtime behavior)
Definition: jacobian.cpp:55
represents both translational and rotational velocities.
Definition: frames.hpp:720
Jacobian jac
Definition: chainiksolvervel_pinv_nso.hpp:144
unsigned int rows() const
Returns the number of rows (size) of the array.
Definition: jntarray.cpp:72
virtual int JntToJac(const JntArray &q_in, Jacobian &jac, int segmentNR=-1)
Calculate the jacobian expressed in the base frame of the chain, with reference point at the end effe...
Definition: chainjnttojacsolver.cpp:48
@ E_SIZE_MISMATCH
Input size does not match internal state.
Definition: solveri.hpp:99
const JntArray & getOptPos() const
Request the optimal joint positions.
Definition: chainiksolvervel_pinv_nso.hpp:91
@ E_SVD_FAILED
Internal svd calculation failed.
Definition: solveri.hpp:107
JntArray opt_pos
Definition: chainiksolvervel_pinv_nso.hpp:156
~ChainIkSolverVel_pinv_nso()
Definition: chainiksolvervel_pinv_nso.cpp:79
Eigen::VectorXd data
Definition: jntarray.hpp:72
Eigen::VectorXd S
Definition: chainiksolvervel_pinv_nso.hpp:146
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainjnttojacsolver.cpp:31
unsigned int nj
Definition: chainiksolvervel_pinv_nso.hpp:143
Definition: jntarrayvel.hpp:46
Eigen::VectorXd Sinv
Definition: chainiksolvervel_pinv_nso.hpp:147
const double & getAlpha() const
Request null space velocity gain.
Definition: chainiksolvervel_pinv_nso.hpp:102
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix< double, 6, Eigen::Dynamic > data
Definition: jacobian.hpp:41
Eigen::VectorXd tmp2
Definition: chainiksolvervel_pinv_nso.hpp:150
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
Eigen::MatrixXd U
Definition: chainiksolvervel_pinv_nso.hpp:145
Definition: framevel.hpp:204
Definition: chainiksolver.hpp:66
int getSVDResult() const
Retrieve the latest return code from the SVD algorithm.
Definition: chainiksolvervel_pinv_nso.hpp:135
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
Definition: chainjnttojacsolver.hpp:42
@ E_NOERROR
No error.
Definition: solveri.hpp:91
Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to c...
Definition: chainiksolvervel_pinv_nso.hpp:47
ChainJntToJacSolver jnt2jac
Definition: chainiksolvervel_pinv_nso.hpp:142
double alpha
Definition: chainiksolvervel_pinv_nso.hpp:154
Eigen::VectorXd tmp
Definition: chainiksolvervel_pinv_nso.hpp:149
virtual int setWeights(const JntArray &weights)
Set joint weights for optimization criterion.
Definition: chainiksolvervel_pinv_nso.cpp:166
unsigned int getNrOfJoints() const
Request the total number of joints in the chain.
Definition: chain.hpp:71
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:149
Definition: jacobian.hpp:37