KDL  1.3.0
Public Types | Public Member Functions | Protected Attributes | Private Attributes | List of all members
KDL::ChainIkSolverVel_pinv_givens Class Reference

Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain. More...

#include <src/chainiksolvervel_pinv_givens.hpp>

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Public Types

enum  { E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2 }
 

Public Member Functions

 ChainIkSolverVel_pinv_givens (const Chain &chain)
 Constructor of the solver. More...
 
 ~ChainIkSolverVel_pinv_givens ()
 
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 velocities. More...
 
virtual int CartToJnt (const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)
 not (yet) implemented. More...
 
virtual int getError () const
 Return the latest error. More...
 
virtual const char * strError (const int error) const
 Return a description of the latest error. More...
 

Protected Attributes

int error
 Latest error, initialized to E_NOERROR in constructor. More...
 

Private Attributes

const Chain chain
 
ChainJntToJacSolver jnt2jac
 
Jacobian jac
 
bool transpose
 
bool toggle
 
unsigned int m
 
unsigned int n
 
MatrixXd jac_eigen
 
MatrixXd U
 
MatrixXd V
 
MatrixXd B
 
VectorXd S
 
VectorXd tempi
 
VectorXd tempj
 
VectorXd UY
 
VectorXd SUY
 
VectorXd qdot_eigen
 
VectorXd v_in_eigen
 

Detailed Description

Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain.

It uses a svd-calculation based on householders rotations.

Member Enumeration Documentation

anonymous enum
inherited
Enumerator
E_DEGRADED 

Converged but degraded solution (e.g. WDLS with psuedo-inverse singular)

E_NOERROR 

No error.

E_NO_CONVERGE 

Failed to converge.

E_UNDEFINED 

Undefined value (e.g. computed a NAN, or tan(90 degrees) )

Constructor & Destructor Documentation

KDL::ChainIkSolverVel_pinv_givens::ChainIkSolverVel_pinv_givens ( const Chain chain)
explicit

Constructor of the solver.

Parameters
chainthe chain to calculate the inverse velocity kinematics for
epsif a singular value is below this value, its inverse is set to zero, default: 0.00001
maxitermaximum iterations for the svd calculation, default: 150
KDL::ChainIkSolverVel_pinv_givens::~ChainIkSolverVel_pinv_givens ( )

Member Function Documentation

int KDL::ChainIkSolverVel_pinv_givens::CartToJnt ( const JntArray q_in,
const Twist v_in,
JntArray qdot_out 
)
virtual

Calculate inverse velocity kinematics, from joint positions and cartesian velocity to joint velocities.

Parameters
q_ininput joint positions
v_ininput cartesian velocity
qdot_outoutput joint velocities
Returns
if < 0 something went wrong

Implements KDL::ChainIkSolverVel.

References B, chain, KDL::Chain::getNrOfJoints(), jac, jac_eigen, jnt2jac, KDL::ChainJntToJacSolver::JntToJac(), m, n, qdot_eigen, S, SUY, KDL::svd_eigen_Macie(), tempi, toggle, transpose, U, UY, V, and v_in_eigen.

virtual int KDL::ChainIkSolverVel_pinv_givens::CartToJnt ( const JntArray q_init,
const FrameVel v_in,
JntArrayVel q_out 
)
inlinevirtual

not (yet) implemented.

Implements KDL::ChainIkSolverVel.

virtual int KDL::SolverI::getError ( ) const
inlinevirtualinherited

Return the latest error.

References KDL::SolverI::error.

virtual const char* KDL::SolverI::strError ( const int  error) const
inlinevirtualinherited

Member Data Documentation

MatrixXd KDL::ChainIkSolverVel_pinv_givens::B
private

Referenced by CartToJnt().

const Chain KDL::ChainIkSolverVel_pinv_givens::chain
private

Referenced by CartToJnt().

int KDL::SolverI::error
protectedinherited
Jacobian KDL::ChainIkSolverVel_pinv_givens::jac
private

Referenced by CartToJnt().

MatrixXd KDL::ChainIkSolverVel_pinv_givens::jac_eigen
private

Referenced by CartToJnt().

ChainJntToJacSolver KDL::ChainIkSolverVel_pinv_givens::jnt2jac
private

Referenced by CartToJnt().

unsigned int KDL::ChainIkSolverVel_pinv_givens::m
private

Referenced by CartToJnt().

unsigned int KDL::ChainIkSolverVel_pinv_givens::n
private

Referenced by CartToJnt().

VectorXd KDL::ChainIkSolverVel_pinv_givens::qdot_eigen
private

Referenced by CartToJnt().

VectorXd KDL::ChainIkSolverVel_pinv_givens::S
private

Referenced by CartToJnt().

VectorXd KDL::ChainIkSolverVel_pinv_givens::SUY
private

Referenced by CartToJnt().

VectorXd KDL::ChainIkSolverVel_pinv_givens::tempi
private

Referenced by CartToJnt().

VectorXd KDL::ChainIkSolverVel_pinv_givens::tempj
private
bool KDL::ChainIkSolverVel_pinv_givens::toggle
private

Referenced by CartToJnt().

bool KDL::ChainIkSolverVel_pinv_givens::transpose
private

Referenced by CartToJnt().

MatrixXd KDL::ChainIkSolverVel_pinv_givens::U
private

Referenced by CartToJnt().

VectorXd KDL::ChainIkSolverVel_pinv_givens::UY
private

Referenced by CartToJnt().

MatrixXd KDL::ChainIkSolverVel_pinv_givens::V
private

Referenced by CartToJnt().

VectorXd KDL::ChainIkSolverVel_pinv_givens::v_in_eigen
private

Referenced by CartToJnt().


The documentation for this class was generated from the following files: