#include <unconstraint_solver.h>
Inheritance diagram for UnconstraintSolver:
Public Member Functions | |
| virtual Eigen::MatrixXd | solve (const Vector6d_t &in_cart_velocities, const JointStates &joint_states) |
| UnconstraintSolver (const TwistControllerParams ¶ms, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller) | |
| virtual | ~UnconstraintSolver () |
Detailed Description
Definition at line 24 of file unconstraint_solver.h.
Constructor & Destructor Documentation
| UnconstraintSolver::UnconstraintSolver | ( | const TwistControllerParams & | params, |
| const LimiterParams & | limiter_params, | ||
| TaskStackController_t & | task_stack_controller | ||
| ) | [inline] |
Definition at line 27 of file unconstraint_solver.h.
| virtual UnconstraintSolver::~UnconstraintSolver | ( | ) | [inline, virtual] |
Definition at line 33 of file unconstraint_solver.h.
Member Function Documentation
| Eigen::MatrixXd UnconstraintSolver::solve | ( | const Vector6d_t & | in_cart_velocities, |
| const JointStates & | joint_states | ||
| ) | [virtual] |
Specific implementation of solve-method to solve IK problem without any constraints. See base class ConstraintSolver for more details on params and returns.
Implementation of a default solve-method for the inverse kinematics problem. It calculates the pseudo-inverse of the Jacobian via the base implementation of calculatePinvJacobianBySVD. With the pseudo-inverse the joint velocity vector is calculated.
Implements ConstraintSolver<>.
Definition at line 27 of file unconstraint_solver.cpp.
The documentation for this class was generated from the following files: