3 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
4 #define KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
11 using namespace Eigen;
46 virtual void updateInternalDataStructures();
55 MatrixXd jac_eigen,U,V,
B;
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: 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