3 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
4 #define KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
11 using namespace Eigen;
41 virtual int CartToJnt(
const JntArray& q_in,
const Twist& v_in, JntArray& qdot_out);
53 MatrixXd jac_eigen,U,
V,B;
Jacobian jac
Definition: chainiksolvervel_pinv_givens.hpp:50
Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to c...
Definition: chainiksolvervel_pinv_givens.hpp:24
VectorXd v_in_eigen
Definition: chainiksolvervel_pinv_givens.hpp:54
Definition: jacobian.hpp:35
This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
Definition: chainjnttojacsolver.hpp:41
represents both translational and rotational velocities.
Definition: frames.hpp:720
MatrixXd V
Definition: chainiksolvervel_pinv_givens.hpp:53
Definition: articulatedbodyinertia.cpp:28
unsigned int n
Definition: chainiksolvervel_pinv_givens.hpp:52
Definition: jntarrayvel.hpp:36
ChainJntToJacSolver jnt2jac
Definition: chainiksolvervel_pinv_givens.hpp:49
bool transpose
Definition: chainiksolvervel_pinv_givens.hpp:51
Definition: framevel.hpp:197
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
Definition: chainiksolver.hpp:65