/usr/include/kdl/chainiksolvervel_pinv_givens.hpp is in liborocos-kdl-dev 1.3.0+dfsg-1.
This file is owned by root:root, with mode 0o644.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 | // 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>
using namespace Eigen;
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
* @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_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 -1;};
private:
const Chain chain;
ChainJntToJacSolver jnt2jac;
Jacobian jac;
bool transpose,toggle;
unsigned int m,n;
MatrixXd jac_eigen,U,V,B;
VectorXd S,tempi,tempj,UY,SUY,qdot_eigen,v_in_eigen;
};
}
#endif
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