Go to the documentation of this file.
3 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
4 #define KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
11 using namespace Eigen;
50 virtual void updateInternalDataStructures();
59 MatrixXd jac_eigen,U,
V,B;
VectorXd SUY
Definition: chainiksolvervel_pinv_givens.hpp:60
Definition: jntarray.hpp:70
VectorXd qdot_eigen
Definition: chainiksolvervel_pinv_givens.hpp:60
@ E_NOT_UP_TO_DATE
Chain size changed.
Definition: solveri.hpp:97
VectorXd tempj
Definition: chainiksolvervel_pinv_givens.hpp:60
bool transpose
Definition: chainiksolvervel_pinv_givens.hpp:57
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:72
bool toggle
Definition: chainiksolvervel_pinv_givens.hpp:57
MatrixXd jac_eigen
Definition: chainiksolvervel_pinv_givens.hpp:59
Definition: articulatedbodyinertia.cpp:28
VectorXd v_in_eigen
Definition: chainiksolvervel_pinv_givens.hpp:60
Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to c...
Definition: chainiksolvervel_pinv_givens.hpp:25
unsigned int n
Definition: chainiksolvervel_pinv_givens.hpp:58
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
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
MatrixXd B
Definition: chainiksolvervel_pinv_givens.hpp:59
@ E_SIZE_MISMATCH
Input size does not match internal state.
Definition: solveri.hpp:99
unsigned int m
Definition: chainiksolvervel_pinv_givens.hpp:58
MatrixXd U
Definition: chainiksolvervel_pinv_givens.hpp:59
Jacobian jac
Definition: chainiksolvervel_pinv_givens.hpp:56
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainjnttojacsolver.cpp:31
Definition: jntarrayvel.hpp:46
virtual int CartToJnt(const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)
not (yet) implemented.
Definition: chainiksolvervel_pinv_givens.hpp:47
MatrixXd V
Definition: chainiksolvervel_pinv_givens.hpp:59
const Chain & chain
Definition: chainiksolvervel_pinv_givens.hpp:53
VectorXd tempi
Definition: chainiksolvervel_pinv_givens.hpp:60
int svd_eigen_Macie(const MatrixXd &A, MatrixXd &U, VectorXd &S, MatrixXd &V, MatrixXd &B, VectorXd &tempi, double threshold, bool toggle)
svd_eigen_Macie provides Maciejewski implementation for SVD.
Definition: svd_eigen_Macie.hpp:59
VectorXd S
Definition: chainiksolvervel_pinv_givens.hpp:60
Definition: framevel.hpp:204
Definition: chainiksolver.hpp:66
unsigned int nj
Definition: chainiksolvervel_pinv_givens.hpp:54
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainiksolvervel_pinv_givens.cpp:49
ChainJntToJacSolver jnt2jac
Definition: chainiksolvervel_pinv_givens.hpp:55
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
VectorXd UY
Definition: chainiksolvervel_pinv_givens.hpp:60
unsigned int getNrOfJoints() const
Request the total number of joints in the chain.
Definition: chain.hpp:71
ChainIkSolverVel_pinv_givens(const Chain &chain)
Constructor of the solver.
Definition: chainiksolvervel_pinv_givens.cpp:27
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:149
Definition: jacobian.hpp:37
~ChainIkSolverVel_pinv_givens()
Definition: chainiksolvervel_pinv_givens.cpp:67