22#ifndef KDL_CHAIN_IKSOLVERVEL_WDLS_HPP
23#define KDL_CHAIN_IKSOLVERVEL_WDLS_HPP
167 void setEps(
const double eps_in);
188 int getSigma(Eigen::VectorXd& Sout);
Implementation of a inverse velocity kinematics algorithm based on the weighted pseudo inverse with d...
Definition: chainiksolvervel_wdls.hpp:64
Eigen::MatrixXd tmp_js
Definition: chainiksolvervel_wdls.hpp:233
unsigned int nj
Definition: chainiksolvervel_wdls.hpp:221
double sigmaMin
Definition: chainiksolvervel_wdls.hpp:240
~ChainIkSolverVel_wdls()
Definition: chainiksolvervel_wdls.cpp:72
int getSVDResult() const
Retrieve the latest return code from the SVD algorithm.
Definition: chainiksolvervel_wdls.hpp:210
virtual const char * strError(const int error) const
Return a description of the latest error.
Definition: chainiksolvervel_wdls.cpp:218
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainiksolvervel_wdls.cpp:54
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:116
unsigned int nrZeroSigmas
Definition: chainiksolvervel_wdls.hpp:238
int svdResult
Definition: chainiksolvervel_wdls.hpp:239
double getEps() const
Request the value of eps.
Definition: chainiksolvervel_wdls.hpp:193
Eigen::MatrixXd tmp_ts
Definition: chainiksolvervel_wdls.hpp:232
double getSigmaMin() const
Request the minimum of the first six singular values.
Definition: chainiksolvervel_wdls.hpp:183
void setMaxIter(const int maxiter_in)
Set maxIter.
Definition: chainiksolvervel_wdls.cpp:103
const Chain & chain
Definition: chainiksolvervel_wdls.hpp:219
static const int E_CONVERGE_PINV_SINGULAR
solution converged but (pseudo)inverse is singular
Definition: chainiksolvervel_wdls.hpp:67
double eps
Definition: chainiksolvervel_wdls.hpp:226
int getSigma(Eigen::VectorXd &Sout)
Request the six singular values of the Jacobian.
Definition: chainiksolvervel_wdls.cpp:108
ChainJntToJacSolver jnt2jac
Definition: chainiksolvervel_wdls.hpp:220
Eigen::MatrixXd U
Definition: chainiksolvervel_wdls.hpp:223
double getLambda() const
Request the value of lambda for the minimum.
Definition: chainiksolvervel_wdls.hpp:198
virtual int CartToJnt(const JntArray &, const FrameVel &, JntArrayVel &)
not (yet) implemented.
Definition: chainiksolvervel_wdls.hpp:105
Eigen::MatrixXd tmp_jac_weight2
Definition: chainiksolvervel_wdls.hpp:231
void setLambda(const double lambda)
Set lambda.
Definition: chainiksolvervel_wdls.cpp:93
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:178
Eigen::MatrixXd weight_ts
Definition: chainiksolvervel_wdls.hpp:234
ChainIkSolverVel_wdls(const Chain &chain, double eps=0.00001, int maxiter=150)
Constructor of the solver.
Definition: chainiksolvervel_wdls.cpp:28
Eigen::MatrixXd weight_js
Definition: chainiksolvervel_wdls.hpp:235
void setEps(const double eps_in)
Set eps.
Definition: chainiksolvervel_wdls.cpp:98
Eigen::MatrixXd V
Definition: chainiksolvervel_wdls.hpp:225
Eigen::VectorXd tmp
Definition: chainiksolvervel_wdls.hpp:228
Jacobian jac
Definition: chainiksolvervel_wdls.hpp:222
int maxiter
Definition: chainiksolvervel_wdls.hpp:227
Eigen::VectorXd S
Definition: chainiksolvervel_wdls.hpp:224
int setWeightTS(const Eigen::MatrixXd &Mx)
Set the task space weighting matrix.
Definition: chainiksolvervel_wdls.cpp:86
Eigen::MatrixXd tmp_jac_weight1
Definition: chainiksolvervel_wdls.hpp:230
double lambda
Definition: chainiksolvervel_wdls.hpp:236
Eigen::MatrixXd tmp_jac
Definition: chainiksolvervel_wdls.hpp:229
double lambda_scaled
Definition: chainiksolvervel_wdls.hpp:237
int setWeightJS(const Eigen::MatrixXd &Mq)
Set the joint space weighting matrix.
Definition: chainiksolvervel_wdls.cpp:76
double getLambdaScaled() const
Request the scaled value of lambda for the minimum singular value 1-6.
Definition: chainiksolvervel_wdls.hpp:204
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
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:26