Public Member Functions | Protected Attributes
TaskPrioritySolver Class Reference

#include <task_priority_solver.h>

Inheritance diagram for TaskPrioritySolver:
Inheritance graph

List of all members.

Public Member Functions

virtual Eigen::MatrixXd solve (const Vector6d_t &in_cart_velocities, const JointStates &joint_states)
 TaskPrioritySolver (const TwistControllerParams &params, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller)
virtual ~TaskPrioritySolver ()

Protected Attributes

ros::Time last_time_

Detailed Description

Definition at line 31 of file task_priority_solver.h.

Constructor & Destructor Documentation

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

Definition at line 34 of file task_priority_solver.h.

virtual TaskPrioritySolver::~TaskPrioritySolver ( ) [inline, virtual]

Definition at line 42 of file task_priority_solver.h.

Member Function Documentation

Eigen::MatrixXd TaskPrioritySolver::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 a two tasks. Maciejewski A., Obstacle Avoidance for Kinematically Redundant Manipulators in Dyn Varying Environments.

Implements ConstraintSolver<>.

Definition at line 26 of file task_priority_solver.cpp.

Member Data Documentation

Definition at line 53 of file task_priority_solver.h.

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

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