Go to the documentation of this file. 1 #ifndef KDL_CHAINIKSOLVERPOS_GN_HPP
2 #define KDL_CHAINIKSOLVERPOS_GN_HPP
36 #include <Eigen/Dense>
68 typedef Eigen::Matrix<ScalarType,Eigen::Dynamic,Eigen::Dynamic>
MatrixXq;
69 typedef Eigen::Matrix<ScalarType,Eigen::Dynamic,1>
VectorXq;
97 const Eigen::Matrix<double,6,1>& _l,
100 double _eps_joints=1E-15
112 double _eps_joints=1E-15
221 Eigen::Matrix<ScalarType,6,1>
L;
238 Eigen::LDLT<MatrixXq>
ldlt;
239 Eigen::JacobiSVD<MatrixXq>
svd;
virtual const char * strError(const int error) const
std::vector< KDL::Frame > T_base_jointtip
Eigen::JacobiSVD< MatrixXq > svd
MatrixXq jac
for internal use only.
void display_jac(const KDL::JntArray &jval)
for internal use only. Only exposed for test and diagnostic purposes.
KDL::Frame T_base_head
for internal use only.
double lastRotDiff
contains the last value for the (unweighted) rotational difference after an execution of CartToJnt.
ChainIkSolverPos_LMA(const KDL::Chain &_chain, const Eigen::Matrix< double, 6, 1 > &_l, double _eps=1E-5, int _maxiter=500, double _eps_joints=1E-15)
constructs an ChainIkSolverPos_LMA solver.
void compute_jacobian(const VectorXq &q)
for internal use only. Only exposed for test and diagnostic purposes. compute_fwdpos(q) should always...
bool display_information
display information on each iteration step to the console.
void compute_fwdpos(const VectorXq &q)
for internal use only.
static const int E_GRADIENT_JOINTS_TOO_SMALL
represents a frame transformation in 3D space (rotation + translation)
Eigen::LDLT< MatrixXq > ldlt
Eigen::Matrix< ScalarType, 6, 1 > L
VectorXq lastSV
contains the last values for the singular values of the weighted Jacobian after an execution of CartT...
std::vector< KDL::Frame > T_base_jointroot
virtual ~ChainIkSolverPos_LMA()
destructor.
double lastTransDiff
contains the last value for the (unweighted) translational difference after an execution of CartToJnt...
Eigen::Matrix< ScalarType, Eigen::Dynamic, 1 > VectorXq
void updateInternalDataStructures()
double lastDifference
contains the last value for after an execution of CartToJnt.
VectorXq grad
for internal use only.
virtual int CartToJnt(const KDL::JntArray &q_init, const KDL::Frame &T_base_goal, KDL::JntArray &q_out)
computes the inverse position kinematics.
This abstract class encapsulates the inverse position solver for a KDL::Chain.
static const int E_INCREMENT_JOINTS_TOO_SMALL
Eigen::Matrix< ScalarType, Eigen::Dynamic, Eigen::Dynamic > MatrixXq
This class encapsulates a serial kinematic interconnection structure. It is built out of segments.
int error
Latest error, initialized to E_NOERROR in constructor.
int lastNrOfIter
contains the last number of iterations for an execution of CartToJnt.