Computes the Jacobian time derivative (Jdot) by calculating the partial derivatives regarding to a joint angle, in the Hybrid, Body-fixed or Inertial representation. More...

#include <chainjnttojacdotsolver.hpp>

Inheritance diagram for KDL::ChainJntToJacDotSolver:

Public Member Functions
	ChainJntToJacDotSolver (const Chain &chain)
virtual	~ChainJntToJacDotSolver ()
virtual int	JntToJacDot (const KDL::JntArrayVel &q_in, KDL::Twist &jac_dot_q_dot, int seg_nr=-1)
	Computes \( {}_{bs}\dot{J}^{ee}.\dot{q} \).
virtual int	JntToJacDot (const KDL::JntArrayVel &q_in, KDL::Jacobian &jdot, int seg_nr=-1)
	Computes \( {}_{bs}\dot{J}^{ee} \).
int	setLockedJoints (const std::vector< bool > &locked_joints)
void	setHybridRepresentation ()
	JntToJacDot() will compute in the Hybrid representation (ref Frame: base, ref Point: end-effector).
void	setBodyFixedRepresentation ()
	JntToJacDot() will compute in the Body-fixed representation (ref Frame: end-effector, ref Point: end-effector).
void	setInertialRepresentation ()
	JntToJacDot() will compute in the Inertial representation (ref Frame: base, ref Point: base).
void	setRepresentation (const int &representation)
	Sets the internal variable for the representation (with a check on the value).
virtual void	updateInternalDataStructures ()
virtual const char *	strError (const int error) const
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_JAC_DOT_FAILED = -100
static const int	E_JACSOLVER_FAILED = -101
static const int	E_FKSOLVERPOS_FAILED = -102
static const int	HYBRID = 0
static const int	BODYFIXED = 1
static const int	INERTIAL = 2

Protected Member Functions
const Twist &	getPartialDerivativeHybrid (const Jacobian &bs_J_ee, const unsigned int &joint_idx, const unsigned int &column_idx)
	Computes \( \frac{\partial {}_{bs}J^{i,ee}}{\partial q^{j}}.\dot{q}^{j} \).
const Twist &	getPartialDerivativeBodyFixed (const Jacobian &ee_J_ee, const unsigned int &joint_idx, const unsigned int &column_idx)
	Computes \( \frac{\partial {}_{ee}J^{i,ee}}{\partial q^{j}}.\dot{q}^{j} \).
const Twist &	getPartialDerivativeInertial (const Jacobian &bs_J_bs, const unsigned int &joint_idx, const unsigned int &column_idx)
	Computes \( \frac{\partial {}_{bs}J^{i,bs}}{\partial q^{j}}.\dot{q}^{j} \).
const Twist &	getPartialDerivative (const Jacobian &J, const unsigned int &joint_idx, const unsigned int &column_idx, const int &representation)
	Computes \( \frac{\partial J^{i,ee}}{\partial q^{j}}.\dot{q}^{j} \).

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

Computes the Jacobian time derivative (Jdot) by calculating the partial derivatives regarding to a joint angle, in the Hybrid, Body-fixed or Inertial representation.

This work is based on : Symbolic differentiation of the velocity mapping for a serial kinematic chain H. Bruyninckx, J. De Schutter doi:10.1016/0094-114X(95)00069-B

url : http://www.sciencedirect.com/science/article/pii/0094114X9500069B

Constructor & Destructor Documentation

◆ ChainJntToJacDotSolver()

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

explicit

◆ ~ChainJntToJacDotSolver()

virtual KDL::ChainJntToJacDotSolver::~ChainJntToJacDotSolver ( )

virtual

Member Function Documentation

◆ getPartialDerivative()

const Twist & KDL::ChainJntToJacDotSolver::getPartialDerivative	(	const Jacobian &	J,
		const unsigned int &	joint_idx,
		const unsigned int &	column_idx,
		const int &	representation )

protected

Computes \( \frac{\partial J^{i,ee}}{\partial q^{j}}.\dot{q}^{j} \).

Parameters

bs_J_bs	The Jacobian expressed in the base frame with the end effector as the reference point
joint_idx	The indice of the current joint (j in the formula)
column_idx	The indice of the current column (i in the formula)
representation	The representation (Hybrid,Body-fixed,Inertial) in which you want to get dJ/dqj .qdotj

Returns: Twist The twist representing dJi/dqj .qdotj

◆ getPartialDerivativeBodyFixed()

const Twist & KDL::ChainJntToJacDotSolver::getPartialDerivativeBodyFixed	(	const Jacobian &	ee_J_ee,
		const unsigned int &	joint_idx,
		const unsigned int &	column_idx )

protected

Computes \( \frac{\partial {}_{ee}J^{i,ee}}{\partial q^{j}}.\dot{q}^{j} \).

Parameters

bs_J_ee	The Jacobian expressed in the end effector frame with the end effector as the reference point
joint_idx	The indice of the current joint (j in the formula)
column_idx	The indice of the current column (i in the formula)

Returns: Twist The twist representing dJi/dqj .qdotj

◆ getPartialDerivativeHybrid()

const Twist & KDL::ChainJntToJacDotSolver::getPartialDerivativeHybrid	(	const Jacobian &	bs_J_ee,
		const unsigned int &	joint_idx,
		const unsigned int &	column_idx )

protected

Computes \( \frac{\partial {}_{bs}J^{i,ee}}{\partial q^{j}}.\dot{q}^{j} \).

Parameters

bs_J_ee	The Jacobian expressed in the base frame with the end effector as the reference point (default in KDL Jacobian Solver)
joint_idx	The index of the current joint (j in the formula)
column_idx	The index of the current column (i in the formula)

Returns: Twist The twist representing dJi/dqj .qdotj

◆ getPartialDerivativeInertial()

const Twist & KDL::ChainJntToJacDotSolver::getPartialDerivativeInertial	(	const Jacobian &	bs_J_bs,
		const unsigned int &	joint_idx,
		const unsigned int &	column_idx )

protected

Computes \( \frac{\partial {}_{bs}J^{i,bs}}{\partial q^{j}}.\dot{q}^{j} \).

Parameters

ee_J_ee	The Jacobian expressed in the base frame with the base as the reference point
joint_idx	The indice of the current joint (j in the formula)
column_idx	The indice of the current column (i in the formula)

Returns: Twist The twist representing dJi/dqj .qdotj

◆ JntToJacDot() [1/2]

virtual int KDL::ChainJntToJacDotSolver::JntToJacDot	(	const KDL::JntArrayVel &	q_in,
		KDL::Jacobian &	jdot,
		int	seg_nr = -1 )

virtual

Computes \( {}_{bs}\dot{J}^{ee} \).

Parameters

q_in	Current joint positions and velocities
jdot	The jacobian time derivative in the configured representation (HYBRID, BODYFIXED or INERTIAL)
seg_nr	The final segment to compute

Returns: int 0 if no errors happened

◆ JntToJacDot() [2/2]

virtual int KDL::ChainJntToJacDotSolver::JntToJacDot	(	const KDL::JntArrayVel &	q_in,
		KDL::Twist &	jac_dot_q_dot,
		int	seg_nr = -1 )

virtual

Computes \( {}_{bs}\dot{J}^{ee}.\dot{q} \).

Parameters

q_in	Current joint positions and velocities
jac_dot_q_dot	The twist representing Jdot*qdot
seg_nr	The final segment to compute

Returns: int 0 if no errors happened

◆ setBodyFixedRepresentation()

void KDL::ChainJntToJacDotSolver::setBodyFixedRepresentation ( )

inline

JntToJacDot() will compute in the Body-fixed representation (ref Frame: end-effector, ref Point: end-effector).

Returns: void

◆ setHybridRepresentation()

void KDL::ChainJntToJacDotSolver::setHybridRepresentation ( )

inline

JntToJacDot() will compute in the Hybrid representation (ref Frame: base, ref Point: end-effector).

Returns: void

◆ setInertialRepresentation()

void KDL::ChainJntToJacDotSolver::setInertialRepresentation ( )

inline

JntToJacDot() will compute in the Inertial representation (ref Frame: base, ref Point: base).

Returns: void

◆ setLockedJoints()

int KDL::ChainJntToJacDotSolver::setLockedJoints ( const std::vector< bool > & locked_joints )

◆ setRepresentation()

void KDL::ChainJntToJacDotSolver::setRepresentation ( const int & representation )

Sets the internal variable for the representation (with a check on the value).

Parameters

representation The representation for Jdot : HYBRID,BODYFIXED or INERTIAL

Returns: void

◆ strError()

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

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 void KDL::ChainJntToJacDotSolver::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::SolverI.

Member Data Documentation

◆ BODYFIXED

const int KDL::ChainJntToJacDotSolver::BODYFIXED = 1

static

◆ E_FKSOLVERPOS_FAILED

const int KDL::ChainJntToJacDotSolver::E_FKSOLVERPOS_FAILED = -102

static

◆ E_JAC_DOT_FAILED

const int KDL::ChainJntToJacDotSolver::E_JAC_DOT_FAILED = -100

static

◆ E_JACSOLVER_FAILED

const int KDL::ChainJntToJacDotSolver::E_JACSOLVER_FAILED = -101

static

◆ HYBRID

const int KDL::ChainJntToJacDotSolver::HYBRID = 0

static

◆ INERTIAL

const int KDL::ChainJntToJacDotSolver::INERTIAL = 2

static

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

build/orocos_kdl_install/include/kdl/chainjnttojacdotsolver.hpp

Public Member Functions

Static Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ChainJntToJacDotSolver()

◆ ~ChainJntToJacDotSolver()

Member Function Documentation

◆ getPartialDerivative()

◆ getPartialDerivativeBodyFixed()

◆ getPartialDerivativeHybrid()

◆ getPartialDerivativeInertial()

◆ JntToJacDot() [1/2]

◆ JntToJacDot() [2/2]

◆ setBodyFixedRepresentation()

◆ setHybridRepresentation()

◆ setInertialRepresentation()

◆ setLockedJoints()

◆ setRepresentation()

◆ strError()

◆ updateInternalDataStructures()

Member Data Documentation

◆ BODYFIXED

◆ E_FKSOLVERPOS_FAILED

◆ E_JAC_DOT_FAILED

◆ E_JACSOLVER_FAILED

◆ HYBRID

◆ INERTIAL