KDL::ChainIkSolverVel_pinv_givens Class Reference

Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain. More...

#include <src/chainiksolvervel_pinv_givens.hpp>

Inheritance diagram for KDL::ChainIkSolverVel_pinv_givens:

Collaboration diagram for KDL::ChainIkSolverVel_pinv_givens:

Public Types
enum	{ E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2 }

Public Member Functions
	ChainIkSolverVel_pinv_givens (const Chain &chain)
	Constructor of the solver. More...
	~ChainIkSolverVel_pinv_givens ()
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 velocities. More...
virtual int	CartToJnt (const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)
	not (yet) implemented. More...
virtual int	getError () const
	Return the latest error. More...
virtual const char *	strError (const int error) const
	Return a description of the latest error. More...

Protected Attributes
int	error
	Latest error, initialized to E_NOERROR in constructor. More...

Private Attributes
const Chain	chain
ChainJntToJacSolver	jnt2jac
Jacobian	jac
bool	transpose
bool	toggle
unsigned int	m
unsigned int	n
MatrixXd	jac_eigen
MatrixXd	U
MatrixXd	V
MatrixXd	B
VectorXd	S
VectorXd	tempi
VectorXd	tempj
VectorXd	UY
VectorXd	SUY
VectorXd	qdot_eigen
VectorXd	v_in_eigen

Detailed Description

Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain.

It uses a svd-calculation based on householders rotations.

Member Enumeration Documentation

anonymous enum

inherited

Enumerator
E_DEGRADED	Converged but degraded solution (e.g. WDLS with psuedo-inverse singular)
E_NOERROR	No error.
E_NO_CONVERGE	Failed to converge.
E_UNDEFINED	Undefined value (e.g. computed a NAN, or tan(90 degrees) )

Constructor & Destructor Documentation

KDL::ChainIkSolverVel_pinv_givens::ChainIkSolverVel_pinv_givens ( const Chain &  chain )

explicit

Constructor of the solver.

Parameters

chain	the chain to calculate the inverse velocity kinematics for
eps	if a singular value is below this value, its inverse is set to zero, default: 0.00001
maxiter	maximum iterations for the svd calculation, default: 150

KDL::ChainIkSolverVel_pinv_givens::~ChainIkSolverVel_pinv_givens

(

)

Member Function Documentation

int KDL::ChainIkSolverVel_pinv_givens::CartToJnt ( const JntArray &  q_in, const Twist &  v_in, JntArray &  qdot_out  )

virtual

Calculate inverse velocity kinematics, from joint positions and cartesian velocity 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

Implements KDL::ChainIkSolverVel.

References B, chain, KDL::Chain::getNrOfJoints(), jac, jac_eigen, jnt2jac, KDL::ChainJntToJacSolver::JntToJac(), m, n, qdot_eigen, S, SUY, KDL::svd_eigen_Macie(), tempi, toggle, transpose, U, UY, V, and v_in_eigen.

virtual int KDL::ChainIkSolverVel_pinv_givens::CartToJnt ( const JntArray &  q_init, const FrameVel &  v_in, JntArrayVel &  q_out  )

inlinevirtual

not (yet) implemented.

Implements KDL::ChainIkSolverVel.

virtual int KDL::SolverI::getError ( ) const

inlinevirtualinherited

Return the latest error.

References KDL::SolverI::error.

virtual const char* KDL::SolverI::strError ( const int  error ) const

inlinevirtualinherited

Return a description of the latest error.

Returns

if error is known then a description of error, otherwise "UNKNOWN ERROR"

Reimplemented in KDL::ChainIkSolverVel_wdls, KDL::ChainIkSolverVel_pinv, KDL::ChainIkSolverPos_NR, and KDL::ChainJntToJacSolver.

References KDL::SolverI::E_NO_CONVERGE, and KDL::SolverI::E_NOERROR.

Referenced by KDL::ChainJntToJacSolver::strError(), KDL::ChainIkSolverPos_NR::strError(), KDL::ChainIkSolverVel_pinv::strError(), and KDL::ChainIkSolverVel_wdls::strError().

Member Data Documentation

MatrixXd KDL::ChainIkSolverVel_pinv_givens::B

private

Referenced by CartToJnt().

const Chain KDL::ChainIkSolverVel_pinv_givens::chain

private

Referenced by CartToJnt().

int KDL::SolverI::error

protectedinherited

Latest error, initialized to E_NOERROR in constructor.

Referenced by KDL::ChainIkSolverPos_NR::CartToJnt(), KDL::ChainIkSolverVel_pinv::CartToJnt(), KDL::ChainIkSolverVel_wdls::CartToJnt(), KDL::SolverI::getError(), KDL::ChainIkSolverVel_pinv::getSVDResult(), KDL::ChainIkSolverVel_wdls::getSVDResult(), and KDL::ChainJntToJacSolver::JntToJac().

Jacobian KDL::ChainIkSolverVel_pinv_givens::jac

private

Referenced by CartToJnt().

MatrixXd KDL::ChainIkSolverVel_pinv_givens::jac_eigen

private

Referenced by CartToJnt().

ChainJntToJacSolver KDL::ChainIkSolverVel_pinv_givens::jnt2jac

private

Referenced by CartToJnt().

unsigned int KDL::ChainIkSolverVel_pinv_givens::m

private

Referenced by CartToJnt().

unsigned int KDL::ChainIkSolverVel_pinv_givens::n

private

Referenced by CartToJnt().

VectorXd KDL::ChainIkSolverVel_pinv_givens::qdot_eigen

private

Referenced by CartToJnt().

VectorXd KDL::ChainIkSolverVel_pinv_givens::S

private

Referenced by CartToJnt().

VectorXd KDL::ChainIkSolverVel_pinv_givens::SUY

private

Referenced by CartToJnt().

VectorXd KDL::ChainIkSolverVel_pinv_givens::tempi

private

Referenced by CartToJnt().

VectorXd KDL::ChainIkSolverVel_pinv_givens::tempj

private

bool KDL::ChainIkSolverVel_pinv_givens::toggle

private

Referenced by CartToJnt().

bool KDL::ChainIkSolverVel_pinv_givens::transpose

private

Referenced by CartToJnt().

MatrixXd KDL::ChainIkSolverVel_pinv_givens::U

private

Referenced by CartToJnt().

VectorXd KDL::ChainIkSolverVel_pinv_givens::UY

private

Referenced by CartToJnt().

MatrixXd KDL::ChainIkSolverVel_pinv_givens::V

private

Referenced by CartToJnt().

VectorXd KDL::ChainIkSolverVel_pinv_givens::v_in_eigen

private

Referenced by CartToJnt().

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

• src/chainiksolvervel_pinv_givens.hpp
• src/chainiksolvervel_pinv_givens.cpp