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8 #ifndef TREEIKSOLVERVEL_WDLS_HPP_
9 #define TREEIKSOLVERVEL_WDLS_HPP_
const Eigen::MatrixXd & getWeightTS() const
virtual double CartToJnt(const JntArray &q_in, const Twists &v_in, JntArray &qdot_out)
void setLambda(const double &lambda)
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
const Eigen::MatrixXd & getWeightJS() const
virtual ~TreeIkSolverVel_wdls()
void setWeightJS(const Eigen::MatrixXd &Mq)
TreeJntToJacSolver jnttojacsolver
static const int E_SVD_FAILED
This class encapsulates a tree kinematic interconnection structure. It is built out of segments.
void setWeightTS(const Eigen::MatrixXd &Mx)
TreeIkSolverVel_wdls(const Tree &tree, const std::vector< std::string > &endpoints)
Child SVD failed.