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3 #ifndef KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
4 #define KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
Eigen::MatrixXd jac_eigen
virtual int CartToJnt(const JntArray &q_in, const Twist &v_in, JntArray &qdot_out)
@ E_NOT_IMPLEMENTED
Not yet implemented.
represents both translational and rotational velocities.
Eigen::VectorXd qdot_eigen
virtual int CartToJnt(const JntArray &, const FrameVel &, JntArrayVel &)
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.
virtual void updateInternalDataStructures()
Eigen::VectorXd v_in_eigen
ChainJntToJacSolver jnt2jac
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers.
This class encapsulates a serial kinematic interconnection structure. It is built out of segments.
ChainIkSolverVel_pinv_givens(const Chain &chain)
int error
Latest error, initialized to E_NOERROR in constructor.
~ChainIkSolverVel_pinv_givens()