8#ifndef TREEIKSOLVERVEL_WDLS_HPP_
9#define TREEIKSOLVERVEL_WDLS_HPP_
Definition jntarray.hpp:70
Definition treeiksolvervel_wdls.hpp:17
const Eigen::MatrixXd & getWeightJS() const
Definition treeiksolvervel_wdls.hpp:49
Eigen::VectorXd tmp
Definition treeiksolvervel_wdls.hpp:86
virtual ~TreeIkSolverVel_wdls()
Definition treeiksolvervel_wdls.cpp:33
Eigen::MatrixXd V
Definition treeiksolvervel_wdls.hpp:85
Eigen::VectorXd t
Definition treeiksolvervel_wdls.hpp:86
Eigen::MatrixXd Wy_U
Definition treeiksolvervel_wdls.hpp:85
Eigen::MatrixXd J
Definition treeiksolvervel_wdls.hpp:85
void setWeightJS(const Eigen::MatrixXd &Mq)
Definition treeiksolvervel_wdls.cpp:36
Eigen::VectorXd Wy_t
Definition treeiksolvervel_wdls.hpp:86
static const int E_SVD_FAILED
Definition treeiksolvervel_wdls.hpp:19
TreeJntToJacSolver jnttojacsolver
Definition treeiksolvervel_wdls.hpp:82
Eigen::MatrixXd Wy
Definition treeiksolvervel_wdls.hpp:85
TreeIkSolverVel_wdls(const Tree &tree, const std::vector< std::string > &endpoints)
Child SVD failed.
Definition treeiksolvervel_wdls.cpp:12
Jacobians jacobians
Definition treeiksolvervel_wdls.hpp:83
Eigen::MatrixXd U
Definition treeiksolvervel_wdls.hpp:85
Eigen::MatrixXd Wq
Definition treeiksolvervel_wdls.hpp:85
double lambda
Definition treeiksolvervel_wdls.hpp:87
void setWeightTS(const Eigen::MatrixXd &Mx)
Definition treeiksolvervel_wdls.cpp:40
Tree tree
Definition treeiksolvervel_wdls.hpp:81
Eigen::MatrixXd Wq_V
Definition treeiksolvervel_wdls.hpp:85
Eigen::VectorXd S
Definition treeiksolvervel_wdls.hpp:86
void setLambda(const double &lambda)
Definition treeiksolvervel_wdls.cpp:44
double getLambda() const
Definition treeiksolvervel_wdls.hpp:78
virtual double CartToJnt(const JntArray &q_in, const Twists &v_in, JntArray &qdot_out)
Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocit...
Definition treeiksolvervel_wdls.cpp:48
Eigen::MatrixXd J_Wq
Definition treeiksolvervel_wdls.hpp:85
const Eigen::MatrixXd & getWeightTS() const
Definition treeiksolvervel_wdls.hpp:75
Eigen::MatrixXd Wy_J_Wq
Definition treeiksolvervel_wdls.hpp:85
Eigen::VectorXd qdot
Definition treeiksolvervel_wdls.hpp:86
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
Definition treeiksolver.hpp:54
Definition treejnttojacsolver.hpp:17
This class encapsulates a tree kinematic interconnection structure.
Definition tree.hpp:100
Definition articulatedbodyinertia.cpp:26
std::map< std::string, Twist > Twists
Definition treeiksolver.hpp:18
std::map< std::string, Jacobian > Jacobians
Definition treeiksolver.hpp:19