IPseudoinverseCalculator Class Reference

#include <inverse_jacobian_calculation_base.h>

Inheritance diagram for IPseudoinverseCalculator:

List of all members.

Public Member Functions
virtual Eigen::MatrixXd	calculate (const Eigen::MatrixXd &jacobian) const =0
virtual Eigen::MatrixXd	calculate (const TwistControllerParams &params, boost::shared_ptr< DampingBase > db, const Eigen::MatrixXd &jacobian) const =0
virtual	~IPseudoinverseCalculator ()

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Detailed Description

Definition at line 26 of file inverse_jacobian_calculation_base.h.

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Constructor & Destructor Documentation

virtual IPseudoinverseCalculator::~IPseudoinverseCalculator

(

)

[inline, virtual]

Class has no members so implementing an empty destructor.

Definition at line 50 of file inverse_jacobian_calculation_base.h.

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Member Function Documentation

virtual Eigen::MatrixXd IPseudoinverseCalculator::calculate

(

const Eigen::MatrixXd &

jacobian

)

const [pure virtual]

Pure virtual method for calculation of the pseudoinverse

Parameters:

jacobian

The Jacobi matrix.

Returns:

A pseudoinverse Jacobian

Implemented in PInvDirect, and PInvBySVD.

virtual Eigen::MatrixXd IPseudoinverseCalculator::calculate	(	const TwistControllerParams &	params,
		boost::shared_ptr< DampingBase >	db,
		const Eigen::MatrixXd &	jacobian
	)		const [pure virtual]

Pure virtual method for calculation of the pseudoinverse (allows to consider damping and truncation)

Parameters:

params	The parameters from parameter server.
db	The damping method.
jacobian	The Jacobi matrix.

Returns:

A pseudoinverse Jacobian

Implemented in PInvDirect, and PInvBySVD.

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The documentation for this class was generated from the following file:

• inverse_jacobian_calculation_base.h