22 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP
23 #define KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP
27 #include "utilities/svd_HH.hpp"
104 std::vector<JntArray>
U;
106 std::vector<JntArray>
V;
Jacobian jac
Definition: chainiksolvervel_pinv_nso.hpp:102
const Chain chain
Definition: chainiksolvervel_pinv_nso.hpp:100
JntArray tmp
Definition: chainiksolvervel_pinv_nso.hpp:107
Definition: jacobian.hpp:35
~ChainIkSolverVel_pinv_nso()
Definition: chainiksolvervel_pinv_nso.cpp:60
This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
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_nso.cpp:65
JntArray weights
Definition: chainiksolvervel_pinv_nso.hpp:113
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
JntArray opt_pos
Definition: chainiksolvervel_pinv_nso.hpp:114
ChainIkSolverVel_pinv_nso(const Chain &chain, JntArray opt_pos, JntArray weights, double eps=0.00001, int maxiter=150, double alpha=0.25)
Constructor of the solver.
Definition: chainiksolvervel_pinv_nso.cpp:26
JntArray tmp2
Definition: chainiksolvervel_pinv_nso.hpp:108
Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to c...
Definition: chainiksolvervel_pinv_nso.hpp:46
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
Definition: chainjnttojacsolver.hpp:41
represents both translational and rotational velocities.
Definition: frames.hpp:720
std::vector< JntArray > V
Definition: chainiksolvervel_pinv_nso.hpp:106
virtual int setAlpha(const double alpha)
Set null psace velocity gain.
Definition: chainiksolvervel_pinv_nso.cpp:139
Definition: articulatedbodyinertia.cpp:28
int maxiter
Definition: chainiksolvervel_pinv_nso.hpp:110
virtual int setOptPos(const JntArray &opt_pos)
Set optimal joint positions.
Definition: chainiksolvervel_pinv_nso.cpp:134
virtual int CartToJnt(const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)
not (yet) implemented.
Definition: chainiksolvervel_pinv_nso.hpp:72
Definition: jntarrayvel.hpp:45
JntArray S
Definition: chainiksolvervel_pinv_nso.hpp:105
virtual int setWeights(const JntArray &weights)
Set joint weights for optimization criterion.
Definition: chainiksolvervel_pinv_nso.cpp:129
SVD_HH svd
Definition: chainiksolvervel_pinv_nso.hpp:103
ChainJntToJacSolver jnt2jac
Definition: chainiksolvervel_pinv_nso.hpp:101
double alpha
Definition: chainiksolvervel_pinv_nso.hpp:112
Definition: framevel.hpp:197
std::vector< JntArray > U
Definition: chainiksolvervel_pinv_nso.hpp:104
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
Definition: chainiksolver.hpp:65
double eps
Definition: chainiksolvervel_pinv_nso.hpp:109