KDL::ChainIkSolverVel_pinv_nso Class Reference

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. More...

#include <chainiksolvervel_pinv_nso.hpp>

Inheritance diagram for KDL::ChainIkSolverVel_pinv_nso:

List of all members.

Public Member Functions
virtual int	CartToJnt (const JntArray &q_init, const FrameVel &v_in, JntArrayVel &q_out)
	not (yet) implemented.
virtual int	CartToJnt (const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
	Calculate inverse velocity kinematics, from joint positions and cartesian velocity to joint velocities.
	ChainIkSolverVel_pinv_nso (const Chain &chain, double eps=0.00001, int maxiter=150, int alpha=0.25)
	ChainIkSolverVel_pinv_nso (const Chain &chain, JntArray opt_pos, JntArray weights, double eps=0.00001, int maxiter=150, int alpha=0.25)
	Constructor of the solver.
virtual int	setAlpha (const int alpha)
	Set null psace velocity gain.
virtual int	setOptPos (const JntArray &opt_pos)
	Set optimal joint positions.
virtual int	setWeights (const JntArray &weights)
	Set joint weights for optimization criterion.
	~ChainIkSolverVel_pinv_nso ()

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.

In case of a redundant robot this solver optimizes the the following criterium: g=0.5*sum(weight*(Desired_joint_positions - actual_joint_positions))^2 as described in A. Liegeois. Automatic supervisory control of the configuration and behavior of multibody mechnisms. IEEE Transactions on Systems, Man, and Cybernetics, 7(12):868–871, 1977

Definition at line 46 of file chainiksolvervel_pinv_nso.hpp.

Constructor & Destructor Documentation

KDL::ChainIkSolverVel_pinv_nso::ChainIkSolverVel_pinv_nso	(	const Chain &	chain,
		JntArray	opt_pos,
		JntArray	weights,
		double	eps = `0.00001`,
		int	maxiter = `150`,
		int	alpha = `0.25`
	)

Constructor of the solver.

Parameters:

	chain	the chain to calculate the inverse velocity kinematics for
	opt_pos	the desired positions of the chain used by to resolve the redundancy
	weights	the weights applied in the joint space
	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
	alpha	the null-space velocity gain

Definition at line 26 of file chainiksolvervel_pinv_nso.cpp.

KDL::ChainIkSolverVel_pinv_nso::ChainIkSolverVel_pinv_nso	(	const Chain &	chain,
		double	eps = `0.00001`,
		int	maxiter = `150`,
		int	alpha = `0.25`
	)

Definition at line 44 of file chainiksolvervel_pinv_nso.cpp.

KDL::ChainIkSolverVel_pinv_nso::~ChainIkSolverVel_pinv_nso ( )

Definition at line 60 of file chainiksolvervel_pinv_nso.cpp.

Member Function Documentation

virtual int KDL::ChainIkSolverVel_pinv_nso::CartToJnt	(	const JntArray &	q_init,
		const FrameVel &	v_in,
		JntArrayVel &	q_out
	)			`[inline, virtual]`

not (yet) implemented.

Implements KDL::ChainIkSolverVel.

Definition at line 72 of file chainiksolvervel_pinv_nso.hpp.

int KDL::ChainIkSolverVel_pinv_nso::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.

Definition at line 65 of file chainiksolvervel_pinv_nso.cpp.

References KDL::SVD_HH::calculate(), KDL::Jacobian::columns(), KDL::ChainJntToJacSolver::JntToJac(), and KDL::Jacobian::rows().

int KDL::ChainIkSolverVel_pinv_nso::setAlpha ( const int alpha ) [virtual]

Set null psace velocity gain.

Parameters:

alpha

NUllspace velocity cgain

Definition at line 139 of file chainiksolvervel_pinv_nso.cpp.

int KDL::ChainIkSolverVel_pinv_nso::setOptPos ( const JntArray & opt_pos ) [virtual]

Set optimal joint positions.

Parameters:

opt_pos

optimal joint positions

Definition at line 134 of file chainiksolvervel_pinv_nso.cpp.

int KDL::ChainIkSolverVel_pinv_nso::setWeights ( const JntArray & weights ) [virtual]

Set joint weights for optimization criterion.

Parameters:

weights

the joint weights

Definition at line 129 of file chainiksolvervel_pinv_nso.cpp.

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

KDL::ChainIkSolverVel_pinv_nso Class Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation