KDL::ChainIkSolverVel_pinv_givens Class Reference

#include <chainiksolvervel_pinv_givens.hpp>

Inheritance diagram for KDL::ChainIkSolverVel_pinv_givens:

Public Member Functions
	ChainIkSolverVel_pinv_givens (const Chain &chain)
	~ChainIkSolverVel_pinv_givens ()
virtual int	CartToJnt (const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
virtual int	CartToJnt (const JntArray &, const FrameVel &, JntArrayVel &)
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.
virtual const char *	strError (const int error) const

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_givens()

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

~ChainIkSolverVel_pinv_givens()

KDL::ChainIkSolverVel_pinv_givens::~ChainIkSolverVel_pinv_givens

(

)

Member Function Documentation

CartToJnt() [1/2]

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

inlinevirtual

not (yet) implemented.

Implements KDL::ChainIkSolverVel.

CartToJnt() [2/2]

virtual 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.

updateInternalDataStructures()

virtual void KDL::ChainIkSolverVel_pinv_givens::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.

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

• build/orocos_kdl_install/include/kdl/chainiksolvervel_pinv_givens.hpp