22#ifndef KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP
23#define KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP
Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to c...
Definition chainiksolvervel_pinv_nso.hpp:47
~ChainIkSolverVel_pinv_nso()
Definition chainiksolvervel_pinv_nso.cpp:79
Eigen::MatrixXd U
Definition chainiksolvervel_pinv_nso.hpp:145
virtual int CartToJnt(const JntArray &, const FrameVel &, JntArrayVel &)
not (yet) implemented.
Definition chainiksolvervel_pinv_nso.hpp:72
int getSVDResult() const
Retrieve the latest return code from the SVD algorithm.
Definition chainiksolvervel_pinv_nso.hpp:135
JntArray opt_pos
Definition chainiksolvervel_pinv_nso.hpp:156
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition chainiksolvervel_pinv_nso.cpp:65
const double & getAlpha() const
Request null space velocity gain.
Definition chainiksolvervel_pinv_nso.hpp:102
const JntArray & getOptPos() const
Request the optimal joint positions.
Definition chainiksolvervel_pinv_nso.hpp:91
Eigen::VectorXd S
Definition chainiksolvervel_pinv_nso.hpp:146
virtual int setAlpha(const double alpha)
Set null space velocity gain.
Definition chainiksolvervel_pinv_nso.cpp:182
Jacobian jac
Definition chainiksolvervel_pinv_nso.hpp:144
const JntArray & getWeights() const
Request the joint weights for optimization criterion.
Definition chainiksolvervel_pinv_nso.hpp:80
double alpha
Definition chainiksolvervel_pinv_nso.hpp:154
int svdResult
Definition chainiksolvervel_pinv_nso.hpp:153
double eps
Definition chainiksolvervel_pinv_nso.hpp:151
Eigen::VectorXd Sinv
Definition chainiksolvervel_pinv_nso.hpp:147
Eigen::MatrixXd V
Definition chainiksolvervel_pinv_nso.hpp:148
const Chain & chain
Definition chainiksolvervel_pinv_nso.hpp:141
JntArray weights
Definition chainiksolvervel_pinv_nso.hpp:155
virtual int setWeights(const JntArray &weights)
Set joint weights for optimization criterion.
Definition chainiksolvervel_pinv_nso.cpp:166
Eigen::VectorXd tmp2
Definition chainiksolvervel_pinv_nso.hpp:150
unsigned int nj
Definition chainiksolvervel_pinv_nso.hpp:143
virtual int setOptPos(const JntArray &opt_pos)
Set optimal joint positions.
Definition chainiksolvervel_pinv_nso.cpp:174
ChainJntToJacSolver jnt2jac
Definition chainiksolvervel_pinv_nso.hpp:142
Eigen::VectorXd tmp
Definition chainiksolvervel_pinv_nso.hpp:149
ChainIkSolverVel_pinv_nso(const Chain &chain, const JntArray &opt_pos, const JntArray &weights, double eps=0.00001, int maxiter=150, double alpha=0.25)
Constructor of the solver.
Definition chainiksolvervel_pinv_nso.cpp:27
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:84
int maxiter
Definition chainiksolvervel_pinv_nso.hpp:152
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
represents both translational and rotational velocities.
Definition frames.hpp:720
Definition articulatedbodyinertia.cpp:26