KDL::TreeIkSolverVel_wdls Class Reference
#include <treeiksolvervel_wdls.hpp>
Public Member Functions | |
| virtual double | CartToJnt (const JntArray &q_in, const Twists &v_in, JntArray &qdot_out) |
| Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocities. | |
| double | getLambda () const |
| const MatrixXd & | getWeightJS () const |
| const MatrixXd & | getWeightTS () const |
| void | setLambda (const double &lambda) |
| void | setWeightJS (const MatrixXd &Mq) |
| void | setWeightTS (const MatrixXd &Mx) |
| TreeIkSolverVel_wdls (const Tree &tree, const std::vector< std::string > &endpoints) | |
| virtual | ~TreeIkSolverVel_wdls () |
Detailed Description
Definition at line 19 of file treeiksolvervel_wdls.hpp.
Constructor & Destructor Documentation
| KDL::TreeIkSolverVel_wdls::TreeIkSolverVel_wdls | ( | const Tree & | tree, | |
| const std::vector< std::string > & | endpoints | |||
| ) |
Definition at line 14 of file treeiksolvervel_wdls.cpp.
References KDL::Tree::getNrOfJoints().
| KDL::TreeIkSolverVel_wdls::~TreeIkSolverVel_wdls | ( | ) | [virtual] |
Definition at line 34 of file treeiksolvervel_wdls.cpp.
Member Function Documentation
| 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.
Definition at line 49 of file treeiksolvervel_wdls.cpp.
References KDL::JntArray::data, KDL::Tree::getNrOfJoints(), KDL::TreeJntToJacSolver::JntToJac(), k, KDL::JntArray::rows(), and KDL::svd_eigen_HH().
| double KDL::TreeIkSolverVel_wdls::getLambda | ( | ) | const [inline] |
Definition at line 78 of file treeiksolvervel_wdls.hpp.
| const MatrixXd& KDL::TreeIkSolverVel_wdls::getWeightJS | ( | ) | const [inline] |
Definition at line 49 of file treeiksolvervel_wdls.hpp.
| const MatrixXd& KDL::TreeIkSolverVel_wdls::getWeightTS | ( | ) | const [inline] |
Definition at line 75 of file treeiksolvervel_wdls.hpp.
| void KDL::TreeIkSolverVel_wdls::setLambda | ( | const double & | lambda | ) |
Definition at line 45 of file treeiksolvervel_wdls.cpp.
| void KDL::TreeIkSolverVel_wdls::setWeightJS | ( | const MatrixXd & | Mq | ) |
Definition at line 37 of file treeiksolvervel_wdls.cpp.
| void KDL::TreeIkSolverVel_wdls::setWeightTS | ( | const MatrixXd & | Mx | ) |
Definition at line 41 of file treeiksolvervel_wdls.cpp.
The documentation for this class was generated from the following files:
