8 #ifndef TREEIKSOLVERVEL_WDLS_HPP_
9 #define TREEIKSOLVERVEL_WDLS_HPP_
17 using namespace Eigen;
21 static const int E_SVD_FAILED = -100;
50 void setWeightJS(
const MatrixXd& Mq);
76 void setWeightTS(
const MatrixXd& Mx);
79 void setLambda(
const double& lambda);
87 MatrixXd
J, Wy, Wq, J_Wq, Wy_J_Wq, U, V, Wy_U, Wq_V;
88 VectorXd t, Wy_t,
qdot, tmp, S;
Definition: jntarray.hpp:70
Definition: treeiksolvervel_wdls.hpp:19
TreeJntToJacSolver jnttojacsolver
Definition: treeiksolvervel_wdls.hpp:84
Jacobians jacobians
Definition: treeiksolvervel_wdls.hpp:85
double lambda
Definition: treeiksolvervel_wdls.hpp:89
Tree tree
Definition: treeiksolvervel_wdls.hpp:83
VectorXd qdot
Definition: treeiksolvervel_wdls.hpp:88
double getLambda() const
Definition: treeiksolvervel_wdls.hpp:80
MatrixXd J
Definition: treeiksolvervel_wdls.hpp:87
const MatrixXd & getWeightTS() const
Definition: treeiksolvervel_wdls.hpp:77
const MatrixXd & getWeightJS() const
Definition: treeiksolvervel_wdls.hpp:51
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
Definition: treeiksolver.hpp:54
Definition: treejnttojacsolver.hpp:17
This class encapsulates a tree kinematic interconnection structure.
Definition: tree.hpp:100
Definition: articulatedbodyinertia.cpp:28
std::map< std::string, Twist > Twists
Definition: treeiksolver.hpp:18
std::map< std::string, Jacobian > Jacobians
Definition: treeiksolver.hpp:19