StackOfTasksSolver Class Reference

#include <stack_of_tasks_solver.h>

Inheritance diagram for StackOfTasksSolver:

List of all members.

Public Member Functions
void	processState (std::set< ConstraintBase_t >::iterator &it, const Eigen::MatrixXd &projector, const Eigen::MatrixXd &particular_solution, double inv_sum_of_prios, Eigen::VectorXd &sum_of_gradient)
virtual Eigen::MatrixXd	solve (const Vector6d_t &in_cart_velocities, const JointStates &joint_states)
	StackOfTasksSolver (const TwistControllerParams &params, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller)
virtual	~StackOfTasksSolver ()
Protected Attributes
EN_ConstraintStates	global_constraint_state_
double	in_cart_vel_damping_
ros::Time	last_time_

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Detailed Description

Definition at line 32 of file stack_of_tasks_solver.h.

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Constructor & Destructor Documentation

StackOfTasksSolver::StackOfTasksSolver	(	const TwistControllerParams &	params,
		const LimiterParams &	limiter_params,
		TaskStackController_t &	task_stack_controller
	)		[inline]

Definition at line 35 of file stack_of_tasks_solver.h.

virtual StackOfTasksSolver::~StackOfTasksSolver

(

)

[inline, virtual]

Definition at line 45 of file stack_of_tasks_solver.h.

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Member Function Documentation

void StackOfTasksSolver::processState	(	std::set< ConstraintBase_t >::iterator &	it,
		const Eigen::MatrixXd &	projector,
		const Eigen::MatrixXd &	particular_solution,
		double	inv_sum_of_prios,
		Eigen::VectorXd &	sum_of_gradient
	)

Process the state of the constraint and update the sum_of_gradient.

Definition at line 105 of file stack_of_tasks_solver.cpp.

Eigen::MatrixXd StackOfTasksSolver::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.

Implements ConstraintSolver<>.

Definition at line 23 of file stack_of_tasks_solver.cpp.

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Member Data Documentation

EN_ConstraintStates StackOfTasksSolver::global_constraint_state_ [protected]

Definition at line 66 of file stack_of_tasks_solver.h.

double StackOfTasksSolver::in_cart_vel_damping_ [protected]

Definition at line 67 of file stack_of_tasks_solver.h.

ros::Time StackOfTasksSolver::last_time_ [protected]

Definition at line 65 of file stack_of_tasks_solver.h.

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

• stack_of_tasks_solver.h
• stack_of_tasks_solver.cpp