KDL  1.3.0
chainiksolvervel_pinv_nso.hpp
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1 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 
3 // Version: 1.0
4 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // URL: http://www.orocos.org/kdl
7 
8 // This library is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU Lesser General Public
10 // License as published by the Free Software Foundation; either
11 // version 2.1 of the License, or (at your option) any later version.
12 
13 // This library is distributed in the hope that it will be useful,
14 // but WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // Lesser General Public License for more details.
17 
18 // You should have received a copy of the GNU Lesser General Public
19 // License along with this library; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21 
22 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP
23 #define KDL_CHAIN_IKSOLVERVEL_PINV_NSO_HPP
24 
25 #include "chainiksolver.hpp"
26 #include "chainjnttojacsolver.hpp"
27 #include "utilities/svd_HH.hpp"
28 
29 namespace KDL
30 {
47  {
48  public:
63  ChainIkSolverVel_pinv_nso(const Chain& chain, JntArray opt_pos, JntArray weights, double eps=0.00001,int maxiter=150, double alpha = 0.25);
64  explicit ChainIkSolverVel_pinv_nso(const Chain& chain, double eps=0.00001,int maxiter=150, double alpha = 0.25);
66 
67  virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
72  virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out){return -1;};
73 
74 
81  virtual int setWeights(const JntArray &weights);
82 
89  virtual int setOptPos(const JntArray &opt_pos);
90 
97  virtual int setAlpha(const double alpha);
98 
99  private:
100  const Chain chain;
103  SVD_HH svd;
104  std::vector<JntArray> U;
106  std::vector<JntArray> V;
109  double eps;
110  int maxiter;
111 
112  double alpha;
115 
116  };
117 }
118 #endif
119 
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