Public Member Functions | Private Attributes
SolverFactory< T > Class Template Reference

Abstract base class defining interfaces for the creation of a specific solver. More...

#include <solver_factory.h>

Inheritance diagram for SolverFactory< T >:
Inheritance graph

List of all members.

Public Member Functions

Eigen::MatrixXd calculateJointVelocities (Matrix6Xd_t &jacobian_data, const Vector6d_t &in_cart_velocities, const JointStates &joint_states, boost::shared_ptr< DampingBase > &damping_method, std::set< ConstraintBase_t > &constraints) const
 SolverFactory (const TwistControllerParams &params, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller)
 ~SolverFactory ()

Private Attributes

boost::shared_ptr< Tconstraint_solver_

Detailed Description

template<typename T>
class SolverFactory< T >

Abstract base class defining interfaces for the creation of a specific solver.

Definition at line 45 of file solver_factory.h.

Constructor & Destructor Documentation

template<typename T >
SolverFactory< T >::SolverFactory ( const TwistControllerParams params,
const LimiterParams limiter_params,
TaskStackController_t task_stack_controller 
) [inline]

Definition at line 48 of file solver_factory.h.

template<typename T >
SolverFactory< T >::~SolverFactory ( ) [inline]

Definition at line 55 of file solver_factory.h.

Member Function Documentation

template<typename T >
Eigen::MatrixXd SolverFactory< T >::calculateJointVelocities ( Matrix6Xd_t jacobian_data,
const Vector6d_t in_cart_velocities,
const JointStates joint_states,
boost::shared_ptr< DampingBase > &  damping_method,
std::set< ConstraintBase_t > &  constraints 
) const [inline, virtual]

The base calculation method to calculate joint velocities out of input velocities (cartesian space). Creates a solver according to implemented createSolver-method (in subclass). Use the specialized solve-method to calculate new joint velocities.

paramsReferences the inv. diff. kin. solver parameters.
jacobian_dataReferences the current Jacobian (matrix data only).
in_cart_velocitiesThe input velocities vector (in cartesian space).
joint_statesThe joint states with history.
damping_methodThe damping method.
Joint velocities in a (m x 1)-Matrix.

Implements ISolverFactory.

Definition at line 71 of file solver_factory.h.

Member Data Documentation

template<typename T >
boost::shared_ptr<T> SolverFactory< T >::constraint_solver_ [private]

Definition at line 85 of file solver_factory.h.

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

Author(s): Felix Messmer , Marco Bezzon , Christoph Mark , Francisco Moreno
autogenerated on Thu Jun 6 2019 21:19:26