goal_minimize_change.h
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00001 /*
00002  * Software License Agreement (Apache License)
00003  *
00004  * Copyright (c) 2013, Southwest Research Institute
00005  *
00006  * Licensed under the Apache License, Version 2.0 (the "License");
00007  * you may not use this file except in compliance with the License.
00008  * You may obtain a copy of the License at
00009  *
00010  *   http://www.apache.org/licenses/LICENSE-2.0
00011  *
00012  * Unless required by applicable law or agreed to in writing, software
00013  * distributed under the License is distributed on an "AS IS" BASIS,
00014  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00015  * See the License for the specific language governing permissions and
00016  * limitations under the License.
00017  */
00018 
00019 
00020 #ifndef GOAL_MINIMIZE_CHANGE_H
00021 #define GOAL_MINIMIZE_CHANGE_H
00022 
00023 #include "constrained_ik/constraint.h"
00024 
00025 namespace constrained_ik
00026 {
00027 namespace constraints
00028 {
00029 
00032 class GoalMinimizeChange : public Constraint
00033 {
00034 public:
00035   GoalMinimizeChange();
00036   virtual ~GoalMinimizeChange() {};
00037 
00041   virtual Eigen::MatrixXd calcJacobian();
00042 
00046   virtual Eigen::VectorXd calcError();
00047 
00051   virtual bool checkStatus() const { return true;}; // always return true
00052 
00056   double getWeight() {return weight_;}
00057 
00061   void setWeight(double weight) {weight_ = weight;};
00062 
00063 protected:
00064   double weight_;
00065 
00066 }; // class GoalMinimizeChange
00067 
00068 } // namespace constraints
00069 } // namespace constrained_ik
00070 
00071 
00072 #endif // GOAL_MINIMIZE_CHANGE_H
00073 


constrained_ik
Author(s): Chris Lewis , Jeremy Zoss , Dan Solomon
autogenerated on Mon Oct 6 2014 00:52:26