#include <chainiksolvervel_pinv.hpp>
Public Member Functions | |
| ChainIkSolverVel_pinv (const Chain &chain, double eps=0.00001, int maxiter=150) | |
| ~ChainIkSolverVel_pinv () | |
| virtual int | CartToJnt (const JntArray &q_in, const Twist &v_in, JntArray &qdot_out) |
| virtual int | CartToJnt (const JntArray &, const FrameVel &, JntArrayVel &) |
| unsigned int | getNrZeroSigmas () const |
| int | getSVDResult () const |
| virtual const char * | strError (const int error) const |
| virtual void | updateInternalDataStructures () |
| Public Member Functions inherited from KDL::ChainIkSolverVel | |
| virtual | ~ChainIkSolverVel () |
| Public Member Functions inherited from KDL::SolverI | |
| SolverI () | |
| Initialize latest error to E_NOERROR. | |
| virtual | ~SolverI () |
| virtual int | getError () const |
| Return the latest error. | |
Static Public Attributes | |
| static const int | E_CONVERGE_PINV_SINGULAR = +100 |
| solution converged but (pseudo)inverse is singular | |
Additional Inherited Members | |
| Public Types inherited from KDL::SolverI | |
| enum | { E_DEGRADED = +1 , E_NOERROR = 0 , E_NO_CONVERGE = -1 , E_UNDEFINED = -2 , E_NOT_UP_TO_DATE = -3 , E_SIZE_MISMATCH = -4 , E_MAX_ITERATIONS_EXCEEDED = -5 , E_OUT_OF_RANGE = -6 , E_NOT_IMPLEMENTED = -7 , E_SVD_FAILED = -8 } |
| Protected Attributes inherited from KDL::SolverI | |
| int | error |
| Latest error, initialized to E_NOERROR in constructor. | |
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.
Constructor & Destructor Documentation
◆ ChainIkSolverVel_pinv()
|
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
◆ ~ChainIkSolverVel_pinv()
| KDL::ChainIkSolverVel_pinv::~ChainIkSolverVel_pinv | ( | ) |
Member Function Documentation
◆ CartToJnt() [1/2]
|
inlinevirtual |
not (yet) implemented.
Implements KDL::ChainIkSolverVel.
◆ CartToJnt() [2/2]
|
virtual |
Find an output joint velocity qdot_out, given a starting joint pose q_init and a desired cartesian velocity v_in
- Returns
- E_NOERROR=solution converged to <eps in maxiter E_SVD_FAILED=SVD computation failed E_CONVERGE_PINV_SINGULAR=solution converged but (pseudo)inverse is singular
- Note
- if E_CONVERGE_PINV_SINGULAR returned then converged and can continue motion, but have degraded solution
- If E_SVD_FAILED returned, then getSvdResult() returns the error code from the SVD algorithm.
Implements KDL::ChainIkSolverVel.
◆ getNrZeroSigmas()
|
inline |
Retrieve the number of singular values of the jacobian that are < eps; if the number of near zero singular values is > jac.col()-jac.row(), then the jacobian pseudoinverse is singular
◆ getSVDResult()
|
inline |
Retrieve the latest return code from the SVD algorithm
- Returns
- 0 if CartToJnt() not yet called, otherwise latest SVD result code.
◆ strError()
|
virtual |
Return a description of the latest error
- Returns
- if error is known then a description of error, otherwise "UNKNOWN ERROR"
Reimplemented from KDL::SolverI.
◆ updateInternalDataStructures()
|
virtual |
Update the internal data structures. This is required if the number of segments or number of joints of a chain/tree have changed. This provides a single point of contact for solver memory allocations.
Implements KDL::ChainIkSolverVel.
Member Data Documentation
◆ E_CONVERGE_PINV_SINGULAR
|
static |
solution converged but (pseudo)inverse is singular
The documentation for this class was generated from the following file:
- build/orocos_kdl_install/include/kdl/chainiksolvervel_pinv.hpp
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1.16.1