KDL::TreeIkSolverVel_wdls Class Reference

#include <treeiksolvervel_wdls.hpp>

Inheritance diagram for KDL::TreeIkSolverVel_wdls:

Public Member Functions
	TreeIkSolverVel_wdls (const Tree &tree, const std::vector< std::string > &endpoints)
	Child SVD failed.
virtual	~TreeIkSolverVel_wdls ()
virtual double	CartToJnt (const JntArray &q_in, const Twists &v_in, JntArray &qdot_out)
void	setWeightJS (const Eigen::MatrixXd &Mq)
const Eigen::MatrixXd &	getWeightJS () const
void	setWeightTS (const Eigen::MatrixXd &Mx)
const Eigen::MatrixXd &	getWeightTS () const
void	setLambda (const double &lambda)
double	getLambda () const
Public Member Functions inherited from KDL::TreeIkSolverVel
virtual	~TreeIkSolverVel ()

Static Public Attributes
static const int	E_SVD_FAILED = -100

Constructor & Destructor Documentation

TreeIkSolverVel_wdls()

KDL::TreeIkSolverVel_wdls::TreeIkSolverVel_wdls	(	const Tree &	tree,
		const std::vector< std::string > &	endpoints )

Child SVD failed.

~TreeIkSolverVel_wdls()

virtual KDL::TreeIkSolverVel_wdls::~TreeIkSolverVel_wdls ( )

virtual

Member Function Documentation

CartToJnt()

virtual double KDL::TreeIkSolverVel_wdls::CartToJnt ( const JntArray & q_in, const Twists & v_in, JntArray & qdot_out )

virtual

Calculate inverse velocity kinematics, from joint positions and cartesian velocities 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 distance to goal otherwise (weighted norm of v_in)

Implements KDL::TreeIkSolverVel.

getLambda()

double KDL::TreeIkSolverVel_wdls::getLambda ( ) const

inline

getWeightJS()

const Eigen::MatrixXd & KDL::TreeIkSolverVel_wdls::getWeightJS ( ) const

inline

getWeightTS()

const Eigen::MatrixXd & KDL::TreeIkSolverVel_wdls::getWeightTS ( ) const

inline

setLambda()

void KDL::TreeIkSolverVel_wdls::setLambda

(

const double &

lambda

)

setWeightJS()

void KDL::TreeIkSolverVel_wdls::setWeightJS

(

const Eigen::MatrixXd &

Mq

)

setWeightTS()

void KDL::TreeIkSolverVel_wdls::setWeightTS

(

const Eigen::MatrixXd &

Mx

)

Member Data Documentation

E_SVD_FAILED

const int KDL::TreeIkSolverVel_wdls::E_SVD_FAILED = -100

static

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

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