fsb__kinematic__redundancy_8h_source.html

#ifndef FSB_KINEMATICS_REDUNDANCY_H

#define FSB_KINEMATICS_REDUNDANCY_H


#include "fsb_joint.h"

#include "fsb_linalg.h"

#include "fsb_jacobian.h"


namespace fsb

{


FsbLinalgErrorType jacobian_pseudoinverse(const Jacobian& jacobian, Jacobian& inverse_jacobian, size_t dofs);


JointSpace compute_nullspace_motion(const Jacobian& jacobian, const Jacobian& inverse_jacobian, const JointSpace& joint_motion, size_t dofs);


JointSpace compute_nullspace_motion(const Jacobian& jacobian, const JointSpace& joint_motion, size_t dofs);


} // namespace fsb


#endif

fsb::jacobian_pseudoinverse
FsbLinalgErrorType jacobian_pseudoinverse(const Jacobian &jacobian, Jacobian &inverse_jacobian, size_t dofs)
Computes the pseudoinverse of a Jacobian matrix.
Definition fsb_kinematic_redundancy.cpp:15

fsb::compute_nullspace_motion
JointSpace compute_nullspace_motion(const Jacobian &jacobian, const Jacobian &inverse_jacobian, const JointSpace &joint_motion, size_t dofs)
Computes nullspace motion using the Jacobian and its pseudoinverse.
Definition fsb_kinematic_redundancy.cpp:71

FsbLinalgErrorType
enum FsbLapackErrorType FsbLinalgErrorType
Error codes for linear algebra functions.