Initial commit

2026-06-01 15:55:59 +08:00
commit 40f9bdb590
1799 changed files with 362227 additions and 0 deletions
--- a/KDL/install/include/kdl/chainiksolvervel_pinv.hpp
+++ b/KDL/install/include/kdl/chainiksolvervel_pinv.hpp
@@ -0,0 +1,118 @@
+// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+
+// Version: 1.0
+// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// URL: http://www.orocos.org/kdl
+
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 2.1 of the License, or (at your option) any later version.
+
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Lesser General Public License for more details.
+
+// You should have received a copy of the GNU Lesser General Public
+// License along with this library; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+#ifndef KDL_CHAIN_IKSOLVERVEL_PINV_HPP
+#define KDL_CHAIN_IKSOLVERVEL_PINV_HPP
+
+#include "chainiksolver.hpp"
+#include "chainjnttojacsolver.hpp"
+#include "utilities/svd_HH.hpp"
+
+namespace KDL
+{
+    /**
+     * Implementation of a inverse velocity kinematics algorithm based
+     * on the generalize pseudo inverse to calculate the velocity
+     * transformation from Cartesian to joint space of a general
+     * KDL::Chain. It uses a svd-calculation based on householders
+     * rotations.
+     *
+     * @ingroup KinematicFamily
+     */
+    class ChainIkSolverVel_pinv : public ChainIkSolverVel
+    {
+    public:
+        /// solution converged but (pseudo)inverse is singular
+        static const int E_CONVERGE_PINV_SINGULAR = +100;
+
+        /**
+         * Constructor of the solver
+         *
+         * @param chain the chain to calculate the inverse velocity
+         * kinematics for
+         * @param eps if a singular value is below this value, its
+         * inverse is set to zero, default: 0.00001
+         * @param maxiter maximum iterations for the svd calculation,
+         * default: 150
+         *
+         */
+        explicit ChainIkSolverVel_pinv(const Chain& chain,double eps=0.00001,int maxiter=150);
+        ~ChainIkSolverVel_pinv();
+
+        /**
+         * Find an output joint velocity \a qdot_out, given a starting joint pose
+         * \a q_init and a desired cartesian velocity \a v_in
+         *
+         * @return
+         *  E_NOERROR=solution converged to <eps in maxiter
+         *  E_SVD_FAILED=SVD computation failed
+         *  E_CONVERGE_PINV_SINGULAR=solution converged but (pseudo)inverse is singular
+         *
+         * @note if E_CONVERGE_PINV_SINGULAR returned then converged and can
+         * continue motion, but have degraded solution
+         *
+         * @note If E_SVD_FAILED returned, then getSvdResult() returns the error code
+         * from the SVD algorithm.
+         */
+        virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
+        /**
+         * not (yet) implemented.
+         *
+         */
+        virtual int CartToJnt(const JntArray& /*q_init*/, const FrameVel& /*v_in*/, JntArrayVel& /*q_out*/){return -1;};
+
+        /**
+         * Retrieve the number of singular values of the jacobian that are < eps;
+         * if the number of near zero singular values is > jac.col()-jac.row(),
+         * then the jacobian pseudoinverse is singular
+         */
+        unsigned int getNrZeroSigmas()const {return nrZeroSigmas;};
+
+        /**
+         * Retrieve the latest return code from the SVD algorithm
+		 * @return 0 if CartToJnt() not yet called, otherwise latest SVD result code.
+         */
+        int getSVDResult()const {return svdResult;};
+
+        /// @copydoc KDL::SolverI::strError()
+        virtual const char* strError(const int error) const;
+
+        /// @copydoc KDL::SolverI::updateInternalDataStructures
+        virtual void updateInternalDataStructures();
+    private:
+        const Chain& chain;
+        ChainJntToJacSolver jnt2jac;
+        unsigned int nj;
+        Jacobian jac;
+        SVD_HH svd;
+        std::vector<JntArray> U;
+        JntArray S;
+        std::vector<JntArray> V;
+        JntArray tmp;
+        double eps;
+        int maxiter;
+        unsigned int nrZeroSigmas;
+        int svdResult;
+
+    };
+}
+#endif
+