chainiksolvervel_pinv_givens.hpp

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00001 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
00004 #define KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
00005 
00006 #include "chainiksolver.hpp"
00007 #include "chainjnttojacsolver.hpp"
00008 
00009 #include <Eigen/Core>
00010 
00011 USING_PART_OF_NAMESPACE_EIGEN;
00012 
00013 namespace KDL
00014 {
00024     class ChainIkSolverVel_pinv_givens : public ChainIkSolverVel
00025     {
00026     public:
00034         ChainIkSolverVel_pinv_givens(const Chain& chain);
00035         ~ChainIkSolverVel_pinv_givens();
00036 
00037         virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
00042         virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out){return -1;};
00043     private:
00044         const Chain chain;
00045         ChainJntToJacSolver jnt2jac;
00046         Jacobian jac;
00047         bool transpose,toggle;
00048         int m,n;
00049         MatrixXd jac_eigen,U,V,B;
00050         VectorXd S,tempi,tempj,UY,SUY,qdot_eigen,v_in_eigen;
00051     };
00052 }
00053 #endif