3 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
4 #define KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to c...
Definition: chainiksolvervel_pinv_givens.hpp:23
Eigen::VectorXd SUY
Definition: chainiksolvervel_pinv_givens.hpp:54
ChainJntToJacSolver jnt2jac
Definition: chainiksolvervel_pinv_givens.hpp:49
Eigen::VectorXd v_in_eigen
Definition: chainiksolvervel_pinv_givens.hpp:54
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
Calculate inverse velocity kinematics, from joint positions and cartesian velocity to joint velocitie...
Definition: chainiksolvervel_pinv_givens.cpp:70
Eigen::VectorXd UY
Definition: chainiksolvervel_pinv_givens.hpp:54
~ChainIkSolverVel_pinv_givens()
Definition: chainiksolvervel_pinv_givens.cpp:65
bool transpose
Definition: chainiksolvervel_pinv_givens.hpp:51
Eigen::MatrixXd jac_eigen
Definition: chainiksolvervel_pinv_givens.hpp:53
ChainIkSolverVel_pinv_givens(const Chain &chain)
Constructor of the solver.
Definition: chainiksolvervel_pinv_givens.cpp:27
const Chain & chain
Definition: chainiksolvervel_pinv_givens.hpp:47
unsigned int n
Definition: chainiksolvervel_pinv_givens.hpp:52
Eigen::MatrixXd V
Definition: chainiksolvervel_pinv_givens.hpp:53
unsigned int nj
Definition: chainiksolvervel_pinv_givens.hpp:48
Jacobian jac
Definition: chainiksolvervel_pinv_givens.hpp:50
virtual int CartToJnt(const JntArray &, const FrameVel &, JntArrayVel &)
not (yet) implemented.
Definition: chainiksolvervel_pinv_givens.hpp:41
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainiksolvervel_pinv_givens.cpp:48
unsigned int m
Definition: chainiksolvervel_pinv_givens.hpp:52
Eigen::VectorXd S
Definition: chainiksolvervel_pinv_givens.hpp:54
Eigen::MatrixXd B
Definition: chainiksolvervel_pinv_givens.hpp:53
Eigen::VectorXd tempi
Definition: chainiksolvervel_pinv_givens.hpp:54
Eigen::VectorXd qdot_eigen
Definition: chainiksolvervel_pinv_givens.hpp:54
bool toggle
Definition: chainiksolvervel_pinv_givens.hpp:51
Eigen::MatrixXd U
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:39
Definition: framevel.hpp:219
Definition: jacobian.hpp:37
Definition: jntarrayvel.hpp:46
Definition: jntarray.hpp:70
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:149
@ E_NOT_IMPLEMENTED
Not yet implemented.
Definition: solveri.hpp:105
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:26