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
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