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kdl_install/include/kdl/chainiksolvervel_pinv_givens.hpp

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+// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+
+#ifndef KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
+#define KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
+
+#include "chainiksolver.hpp"
+#include "chainjnttojacsolver.hpp"
+
+#include <Eigen/Core>
+
+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_givens : public ChainIkSolverVel
+    {
+    public:
+
+        /**
+         * Constructor of the solver
+         *
+         * @param chain the chain to calculate the inverse velocity
+         * kinematics for
+         *
+         */
+        explicit ChainIkSolverVel_pinv_givens(const Chain& chain);
+        ~ChainIkSolverVel_pinv_givens();
+
+        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 (error = E_NOT_IMPLEMENTED);};
+
+        /// @copydoc KDL::SolverI::updateInternalDataStructures
+        virtual void updateInternalDataStructures();
+
+    private:
+        const Chain& chain;
+        unsigned int nj;
+        ChainJntToJacSolver jnt2jac;
+        Jacobian jac;
+        bool transpose,toggle;
+        unsigned int m,n;
+        Eigen::MatrixXd jac_eigen,U,V,B;
+        Eigen::VectorXd S,tempi,UY,SUY,qdot_eigen,v_in_eigen;
+    };
+}
+#endif