58 lines
1.7 KiB
C++
58 lines
1.7 KiB
C++
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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#ifndef KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
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#define KDL_CHAIN_IKSOLVERVEL_PINV_GIVENS_HPP
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#include "chainiksolver.hpp"
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#include "chainjnttojacsolver.hpp"
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#include <Eigen/Core>
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namespace KDL
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{
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/**
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* Implementation of a inverse velocity kinematics algorithm based
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* on the generalize pseudo inverse to calculate the velocity
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* transformation from Cartesian to joint space of a general
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* KDL::Chain. It uses a svd-calculation based on householders
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* rotations.
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*
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* @ingroup KinematicFamily
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*/
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class ChainIkSolverVel_pinv_givens : public ChainIkSolverVel
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{
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public:
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/**
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* Constructor of the solver
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*
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* @param chain the chain to calculate the inverse velocity
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* kinematics for
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*
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*/
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explicit ChainIkSolverVel_pinv_givens(const Chain& chain);
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~ChainIkSolverVel_pinv_givens();
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virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
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/**
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* not (yet) implemented.
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*
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*/
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virtual int CartToJnt(const JntArray& /*q_init*/, const FrameVel& /*v_in*/, JntArrayVel& /*q_out*/){return (error = E_NOT_IMPLEMENTED);};
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/// @copydoc KDL::SolverI::updateInternalDataStructures
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virtual void updateInternalDataStructures();
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private:
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const Chain& chain;
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unsigned int nj;
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ChainJntToJacSolver jnt2jac;
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Jacobian jac;
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bool transpose,toggle;
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unsigned int m,n;
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Eigen::MatrixXd jac_eigen,U,V,B;
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Eigen::VectorXd S,tempi,UY,SUY,qdot_eigen,v_in_eigen;
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};
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}
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#endif
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