22 #ifndef KDL_CHAIN_IKSOLVERVEL_WDLS_HPP 23 #define KDL_CHAIN_IKSOLVERVEL_WDLS_HPP 164 void setEps(
const double eps_in);
int svdResult
Definition: chainiksolvervel_wdls.hpp:222
ChainIkSolverVel_wdls(const Chain &chain, double eps=0.00001, int maxiter=150)
Constructor of the solver.
Definition: chainiksolvervel_wdls.cpp:28
static const int E_SVD_FAILED
Definition: chainiksolvervel_wdls.hpp:66
double getLambdaScaled() const
Request the scaled value of lambda for the minimum singular value 1-6.
Definition: chainiksolvervel_wdls.hpp:191
Eigen::MatrixXd tmp_jac
Definition: chainiksolvervel_wdls.hpp:212
double eps
Definition: chainiksolvervel_wdls.hpp:209
Definition: jacobian.hpp:35
This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
double lambda_scaled
Definition: chainiksolvervel_wdls.hpp:220
Eigen::MatrixXd tmp_ts
Definition: chainiksolvervel_wdls.hpp:215
Eigen::MatrixXd V
Definition: chainiksolvervel_wdls.hpp:208
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
int maxiter
Definition: chainiksolvervel_wdls.hpp:210
double sigmaMin
Definition: chainiksolvervel_wdls.hpp:223
~ChainIkSolverVel_wdls()
Definition: chainiksolvervel_wdls.cpp:53
virtual const char * strError(const int error) const
Return a description of the latest error.
Definition: chainiksolvervel_wdls.cpp:176
Eigen::MatrixXd weight_js
Definition: chainiksolvervel_wdls.hpp:218
static const int E_CONVERGE_PINV_SINGULAR
SVD solver failed.
Definition: chainiksolvervel_wdls.hpp:68
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_wdls.cpp:80
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
Definition: chainjnttojacsolver.hpp:41
double getLambda() const
Request the value of lambda for the minimum.
Definition: chainiksolvervel_wdls.hpp:185
represents both translational and rotational velocities.
Definition: frames.hpp:720
int getSVDResult() const
Retrieve the latest return code from the SVD algorithm.
Definition: chainiksolvervel_wdls.hpp:197
Eigen::MatrixXd U
Definition: chainiksolvervel_wdls.hpp:206
Eigen::MatrixXd tmp_js
Definition: chainiksolvervel_wdls.hpp:216
const Chain chain
Definition: chainiksolvervel_wdls.hpp:203
Definition: articulatedbodyinertia.cpp:28
void setWeightTS(const Eigen::MatrixXd &Mx)
Set the task space weighting matrix.
Definition: chainiksolvervel_wdls.cpp:61
Eigen::VectorXd S
Definition: chainiksolvervel_wdls.hpp:207
virtual int CartToJnt(const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)
not (yet) implemented.
Definition: chainiksolvervel_wdls.hpp:106
Eigen::MatrixXd tmp_jac_weight2
Definition: chainiksolvervel_wdls.hpp:214
Definition: jntarrayvel.hpp:45
Eigen::VectorXd tmp
Definition: chainiksolvervel_wdls.hpp:211
void setEps(const double eps_in)
Set eps.
Definition: chainiksolvervel_wdls.cpp:70
ChainJntToJacSolver jnt2jac
Definition: chainiksolvervel_wdls.hpp:204
void setLambda(const double lambda)
Set lambda.
Definition: chainiksolvervel_wdls.cpp:65
Eigen::MatrixXd weight_ts
Definition: chainiksolvervel_wdls.hpp:217
Jacobian jac
Definition: chainiksolvervel_wdls.hpp:205
unsigned int getNrZeroSigmas() const
Request the number of singular values of the jacobian that are < eps; if the number of near zero sing...
Definition: chainiksolvervel_wdls.hpp:175
Eigen::MatrixXd tmp_jac_weight1
Definition: chainiksolvervel_wdls.hpp:213
Implementation of a inverse velocity kinematics algorithm based on the weighted pseudo inverse with d...
Definition: chainiksolvervel_wdls.hpp:63
double getSigmaMin() const
Request the minimum of the first six singular values.
Definition: chainiksolvervel_wdls.hpp:180
Definition: framevel.hpp:197
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:122
void setWeightJS(const Eigen::MatrixXd &Mq)
Set the joint space weighting matrix.
Definition: chainiksolvervel_wdls.cpp:57
unsigned int nrZeroSigmas
Definition: chainiksolvervel_wdls.hpp:221
void setMaxIter(const int maxiter_in)
Set maxIter.
Definition: chainiksolvervel_wdls.cpp:75
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
Definition: chainiksolver.hpp:65
double lambda
Definition: chainiksolvervel_wdls.hpp:219