#include <gradient_projection_method_solver.h>
Public Member Functions | |
| GradientProjectionMethodSolver (const TwistControllerParams ¶ms, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller) | |
| virtual Eigen::MatrixXd | solve (const Vector6d_t &in_cart_velocities, const JointStates &joint_states) |
| virtual | ~GradientProjectionMethodSolver () |
Detailed Description
Definition at line 30 of file gradient_projection_method_solver.h.
Constructor & Destructor Documentation
| GradientProjectionMethodSolver::GradientProjectionMethodSolver | ( | const TwistControllerParams & | params, |
| const LimiterParams & | limiter_params, | ||
| TaskStackController_t & | task_stack_controller | ||
| ) | [inline] |
Definition at line 33 of file gradient_projection_method_solver.h.
| virtual GradientProjectionMethodSolver::~GradientProjectionMethodSolver | ( | ) | [inline, virtual] |
Definition at line 39 of file gradient_projection_method_solver.h.
Member Function Documentation
| Eigen::MatrixXd GradientProjectionMethodSolver::solve | ( | const Vector6d_t & | in_cart_velocities, |
| const JointStates & | joint_states | ||
| ) | [virtual] |
Specific implementation of solve-method to solve IK problem with constraints by using the GPM. See base class ConstraintSolver for more details on params and returns.
Solve the inverse differential kinematics equation by using GPM. In addtion to the partial solution q_dot = J^+ * v the homogeneous solution (I - J^+ * J) q_dot_0 is calculated. The q_dot_0 results from the sum of the constraint cost function gradients. The terms of the sum are weighted with a factor k_H separately.
Implements ConstraintSolver<>.
Definition at line 28 of file gradient_projection_method_solver.cpp.
The documentation for this class was generated from the following files: