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22 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_HPP
23 #define KDL_CHAIN_IKSOLVERVEL_PINV_HPP
unsigned int nrZeroSigmas
virtual const char * strError(const int error) const
std::vector< JntArray > V
virtual int CartToJnt(const JntArray &, const FrameVel &, JntArrayVel &)
@ E_NOT_IMPLEMENTED
Not yet implemented.
ChainJntToJacSolver jnt2jac
virtual void updateInternalDataStructures()
represents both translational and rotational velocities.
std::vector< JntArray > U
static const int E_CONVERGE_PINV_SINGULAR
solution converged but (pseudo)inverse is singular
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
unsigned int getNrZeroSigmas() const
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
ChainIkSolverVel_pinv(const Chain &chain, double eps=0.00001, int maxiter=150)
This class encapsulates a serial kinematic interconnection structure. It is built out of segments.
int error
Latest error, initialized to E_NOERROR in constructor.