KDL::TreeIkSolverVel_wdls Class Reference

#include <src/treeiksolvervel_wdls.hpp>

Inheritance diagram for KDL::TreeIkSolverVel_wdls:

Collaboration diagram for KDL::TreeIkSolverVel_wdls:

Public Member Functions
	TreeIkSolverVel_wdls (const Tree &tree, const std::vector< std::string > &endpoints)
	Child SVD failed.
virtual	~TreeIkSolverVel_wdls ()
virtual double	CartToJnt (const JntArray &q_in, const Twists &v_in, JntArray &qdot_out)
	Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocities.
void	setWeightJS (const Eigen::MatrixXd &Mq)
const Eigen::MatrixXd &	getWeightJS () const
void	setWeightTS (const Eigen::MatrixXd &Mx)
const Eigen::MatrixXd &	getWeightTS () const
void	setLambda (const double &lambda)
double	getLambda () const

Static Public Attributes
static const int	E_SVD_FAILED = -100

Private Attributes
Tree	tree
TreeJntToJacSolver	jnttojacsolver
Jacobians	jacobians
Eigen::MatrixXd	J
Eigen::MatrixXd	Wy
Eigen::MatrixXd	Wq
Eigen::MatrixXd	J_Wq
Eigen::MatrixXd	Wy_J_Wq
Eigen::MatrixXd	U
Eigen::MatrixXd	V
Eigen::MatrixXd	Wy_U
Eigen::MatrixXd	Wq_V
Eigen::VectorXd	t
Eigen::VectorXd	Wy_t
Eigen::VectorXd	qdot
Eigen::VectorXd	tmp
Eigen::VectorXd	S
double	lambda

Constructor & Destructor Documentation

TreeIkSolverVel_wdls()

KDL::TreeIkSolverVel_wdls::TreeIkSolverVel_wdls	(	const Tree &	tree,
		const std::vector< std::string > &	endpoints )

Child SVD failed.

References J, J_Wq, jacobians, jnttojacsolver, lambda, qdot, S, t, tmp, tree, U, V, Wq, Wq_V, Wy, Wy_J_Wq, Wy_t, and Wy_U.

~TreeIkSolverVel_wdls()

KDL::TreeIkSolverVel_wdls::~TreeIkSolverVel_wdls ( )

virtual

Member Function Documentation

CartToJnt()

double KDL::TreeIkSolverVel_wdls::CartToJnt ( const JntArray & q_in, const Twists & v_in, JntArray & qdot_out )

virtual

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

Parameters

q_in	input joint positions
v_in	input cartesian velocity
qdot_out	output joint velocities

Returns

if < 0 something went wrong distance to goal otherwise (weighted norm of v_in)

Implements KDL::TreeIkSolverVel.

References KDL::JntArray::data, KDL::Vector::data, E_SVD_FAILED, J, J_Wq, jacobians, jnttojacsolver, lambda, KDL::Twist::rot, KDL::JntArray::rows(), S, t, tmp, tree, U, V, KDL::Twist::vel, Wq, Wq_V, Wy, Wy_J_Wq, and Wy_t.

getLambda()

double KDL::TreeIkSolverVel_wdls::getLambda ( ) const

inline

References lambda.

getWeightJS()

const Eigen::MatrixXd & KDL::TreeIkSolverVel_wdls::getWeightJS ( ) const

inline

References Wq.

getWeightTS()

const Eigen::MatrixXd & KDL::TreeIkSolverVel_wdls::getWeightTS ( ) const

inline

References Wy.

setLambda()

void KDL::TreeIkSolverVel_wdls::setLambda

(

const double &

lambda

)

References lambda.

setWeightJS()

void KDL::TreeIkSolverVel_wdls::setWeightJS

(

const Eigen::MatrixXd &

Mq

)

References Wq.

setWeightTS()

void KDL::TreeIkSolverVel_wdls::setWeightTS

(

const Eigen::MatrixXd &

Mx

)

References Wy.

Member Data Documentation

E_SVD_FAILED

const int KDL::TreeIkSolverVel_wdls::E_SVD_FAILED = -100

static

Referenced by CartToJnt().

J

Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::J

private

Referenced by CartToJnt(), and TreeIkSolverVel_wdls().

J_Wq

Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::J_Wq

private

Referenced by CartToJnt(), and TreeIkSolverVel_wdls().

jacobians

Jacobians KDL::TreeIkSolverVel_wdls::jacobians

private

Referenced by CartToJnt(), and TreeIkSolverVel_wdls().

jnttojacsolver

TreeJntToJacSolver KDL::TreeIkSolverVel_wdls::jnttojacsolver

private

Referenced by CartToJnt(), and TreeIkSolverVel_wdls().

lambda

double KDL::TreeIkSolverVel_wdls::lambda

private

Referenced by CartToJnt(), getLambda(), setLambda(), and TreeIkSolverVel_wdls().

qdot

Eigen::VectorXd KDL::TreeIkSolverVel_wdls::qdot

private

Referenced by TreeIkSolverVel_wdls().

S

Eigen::VectorXd KDL::TreeIkSolverVel_wdls::S

private

Referenced by CartToJnt(), and TreeIkSolverVel_wdls().

t

Eigen::VectorXd KDL::TreeIkSolverVel_wdls::t

private

Referenced by CartToJnt(), and TreeIkSolverVel_wdls().

tmp

Eigen::VectorXd KDL::TreeIkSolverVel_wdls::tmp

private

Referenced by CartToJnt(), and TreeIkSolverVel_wdls().

tree

Tree KDL::TreeIkSolverVel_wdls::tree

private

Referenced by CartToJnt(), and TreeIkSolverVel_wdls().

U

Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::U

private

Referenced by CartToJnt(), and TreeIkSolverVel_wdls().

V

Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::V

private

Referenced by CartToJnt(), and TreeIkSolverVel_wdls().

Wq

Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::Wq

private

Referenced by CartToJnt(), getWeightJS(), setWeightJS(), and TreeIkSolverVel_wdls().

Wq_V

Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::Wq_V

private

Referenced by CartToJnt(), and TreeIkSolverVel_wdls().

Wy

Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::Wy

private

Referenced by CartToJnt(), getWeightTS(), setWeightTS(), and TreeIkSolverVel_wdls().

Wy_J_Wq

Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::Wy_J_Wq

private

Referenced by CartToJnt(), and TreeIkSolverVel_wdls().

Wy_t

Eigen::VectorXd KDL::TreeIkSolverVel_wdls::Wy_t

private

Referenced by CartToJnt(), and TreeIkSolverVel_wdls().

Wy_U

Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::Wy_U

private

Referenced by TreeIkSolverVel_wdls().

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

• src/treeiksolvervel_wdls.hpp
• src/treeiksolvervel_wdls.cpp