KDL  1.4.0
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 
11 using namespace Eigen;
12 
13 namespace KDL
14 {
25  {
26  public:
27 
35  explicit ChainIkSolverVel_pinv_givens(const Chain& chain);
37 
38  virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
43  virtual int CartToJnt(const JntArray& /*q_init*/, const FrameVel& /*v_in*/, JntArrayVel& /*q_out*/){return (error = E_NOT_IMPLEMENTED);};
44 
46  virtual void updateInternalDataStructures();
47 
48  private:
49  const Chain& chain;
50  unsigned int nj;
53  bool transpose,toggle;
54  unsigned int m,n;
55  MatrixXd jac_eigen,U,V,B;
56  VectorXd S,tempi,UY,SUY,qdot_eigen,v_in_eigen;
57  };
58 }
59 #endif
Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to c...
Definition: chainiksolvervel_pinv_givens.hpp:25
VectorXd qdot_eigen
Definition: chainiksolvervel_pinv_givens.hpp:56
MatrixXd B
Definition: chainiksolvervel_pinv_givens.hpp:55
ChainJntToJacSolver jnt2jac
Definition: chainiksolvervel_pinv_givens.hpp:51
const Chain & chain
Definition: chainiksolvervel_pinv_givens.hpp:49
unsigned int nj
Definition: chainiksolvervel_pinv_givens.hpp:50
Jacobian jac
Definition: chainiksolvervel_pinv_givens.hpp:52
virtual int CartToJnt(const JntArray &, const FrameVel &, JntArrayVel &)
not (yet) implemented.
Definition: chainiksolvervel_pinv_givens.hpp:43
unsigned int m
Definition: chainiksolvervel_pinv_givens.hpp:54
bool toggle
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:42
Definition: chain.hpp:35
Definition: framevel.hpp:219
Definition: jacobian.hpp:37
Definition: jntarrayvel.hpp:46
Definition: jntarray.hpp:70
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:28