#include <treeiksolvervel_wdls.hpp>
Definition at line 17 of file treeiksolvervel_wdls.hpp.
◆ TreeIkSolverVel_wdls()
◆ ~TreeIkSolverVel_wdls()
KDL::TreeIkSolverVel_wdls::~TreeIkSolverVel_wdls |
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virtual |
◆ CartToJnt()
double KDL::TreeIkSolverVel_wdls::CartToJnt |
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const JntArray & |
q_in, |
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const Twists & |
v_in, |
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JntArray & |
qdot_out |
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) |
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virtual |
Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocities.
- Parameters
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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 48 of file treeiksolvervel_wdls.cpp.
◆ getLambda()
double KDL::TreeIkSolverVel_wdls::getLambda |
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const |
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inline |
◆ getWeightJS()
const Eigen::MatrixXd& KDL::TreeIkSolverVel_wdls::getWeightJS |
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const |
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inline |
◆ getWeightTS()
const Eigen::MatrixXd& KDL::TreeIkSolverVel_wdls::getWeightTS |
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const |
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inline |
◆ setLambda()
void KDL::TreeIkSolverVel_wdls::setLambda |
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const double & |
lambda | ) |
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◆ setWeightJS()
void KDL::TreeIkSolverVel_wdls::setWeightJS |
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const Eigen::MatrixXd & |
Mq | ) |
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◆ setWeightTS()
void KDL::TreeIkSolverVel_wdls::setWeightTS |
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const Eigen::MatrixXd & |
Mx | ) |
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◆ E_SVD_FAILED
const int KDL::TreeIkSolverVel_wdls::E_SVD_FAILED = -100 |
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static |
Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::J |
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private |
◆ J_Wq
Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::J_Wq |
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private |
◆ jacobians
Jacobians KDL::TreeIkSolverVel_wdls::jacobians |
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◆ jnttojacsolver
◆ lambda
double KDL::TreeIkSolverVel_wdls::lambda |
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private |
◆ qdot
Eigen::VectorXd KDL::TreeIkSolverVel_wdls::qdot |
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private |
Eigen::VectorXd KDL::TreeIkSolverVel_wdls::S |
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private |
Eigen::VectorXd KDL::TreeIkSolverVel_wdls::t |
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◆ tmp
Eigen::VectorXd KDL::TreeIkSolverVel_wdls::tmp |
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private |
◆ tree
Tree KDL::TreeIkSolverVel_wdls::tree |
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Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::U |
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Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::V |
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◆ Wq
Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::Wq |
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◆ Wq_V
Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::Wq_V |
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private |
◆ Wy
Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::Wy |
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◆ Wy_J_Wq
Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::Wy_J_Wq |
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private |
◆ Wy_t
Eigen::VectorXd KDL::TreeIkSolverVel_wdls::Wy_t |
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private |
◆ Wy_U
Eigen::MatrixXd KDL::TreeIkSolverVel_wdls::Wy_U |
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private |
The documentation for this class was generated from the following files: