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22 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_HPP
23 #define KDL_CHAIN_IKSOLVERVEL_PINV_HPP
27 #include "utilities/svd_HH.hpp"
106 std::vector<JntArray>
U;
108 std::vector<JntArray>
V;
SVD_HH svd
Definition: chainiksolvervel_pinv.hpp:105
unsigned int columns() const
Definition: jacobian.cpp:75
virtual const char * strError(const int error) const
Return a description of the latest error.
Definition: solveri.hpp:125
unsigned int nrZeroSigmas
Definition: chainiksolvervel_pinv.hpp:112
Jacobian jac
Definition: chainiksolvervel_pinv.hpp:104
Definition: jntarray.hpp:69
virtual const char * strError(const int error) const
Return a description of the latest error.
Definition: chainiksolvervel_pinv.cpp:132
void resize(unsigned int newSize)
Resize the array.
Definition: jntarray.cpp:55
virtual int CartToJnt(const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)
not (yet) implemented.
Definition: chainiksolvervel_pinv.hpp:80
int getSVDResult() const
Retrieve the latest return code from the SVD algorithm.
Definition: chainiksolvervel_pinv.hpp:93
double eps
Definition: chainiksolvervel_pinv.hpp:110
@ E_NOT_UP_TO_DATE
Chain size changed.
Definition: solveri.hpp:97
int svdResult
Definition: chainiksolvervel_pinv.hpp:113
int maxiter
Definition: chainiksolvervel_pinv.hpp:111
std::vector< JntArray > V
Definition: chainiksolvervel_pinv.hpp:108
Definition: articulatedbodyinertia.cpp:28
ChainJntToJacSolver jnt2jac
Definition: chainiksolvervel_pinv.hpp:102
unsigned int nj
Definition: chainiksolvervel_pinv.hpp:103
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainiksolvervel_pinv.cpp:43
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
std::vector< JntArray > U
Definition: chainiksolvervel_pinv.hpp:106
@ E_SIZE_MISMATCH
Input size does not match internal state.
Definition: solveri.hpp:99
@ E_SVD_FAILED
Internal svd calculation failed.
Definition: solveri.hpp:107
unsigned int rows() const
Definition: jacobian.cpp:70
static const int E_CONVERGE_PINV_SINGULAR
solution converged but (pseudo)inverse is singular
Definition: chainiksolvervel_pinv.hpp:44
Eigen::VectorXd data
Definition: jntarray.hpp:72
const Chain & chain
Definition: chainiksolvervel_pinv.hpp:101
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainjnttojacsolver.cpp:31
Definition: jntarrayvel.hpp:45
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
Find an output joint velocity qdot_out, given a starting joint pose q_init and a desired cartesian ve...
Definition: chainiksolvervel_pinv.cpp:62
JntArray tmp
Definition: chainiksolvervel_pinv.hpp:109
unsigned int getNrZeroSigmas() const
Retrieve the number of singular values of the jacobian that are < eps; if the number of near zero sin...
Definition: chainiksolvervel_pinv.hpp:87
Definition: framevel.hpp:197
Definition: chainiksolver.hpp:66
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
Definition: chainjnttojacsolver.hpp:41
@ E_NOERROR
No error.
Definition: solveri.hpp:91
Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to c...
Definition: chainiksolvervel_pinv.hpp:40
ChainIkSolverVel_pinv(const Chain &chain, double eps=0.00001, int maxiter=150)
Constructor of the solver.
Definition: chainiksolvervel_pinv.cpp:26
unsigned int getNrOfJoints() const
Request the total number of joints in the chain.
Definition: chain.hpp:71
JntArray S
Definition: chainiksolvervel_pinv.hpp:107
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:149
~ChainIkSolverVel_pinv()
Definition: chainiksolvervel_pinv.cpp:57
Definition: jacobian.hpp:36