Public Member Functions
UnconstraintSolver Class Reference

#include <unconstraint_solver.h>

Inheritance diagram for UnconstraintSolver:
Inheritance graph

List of all members.

Public Member Functions

virtual Eigen::MatrixXd solve (const Vector6d_t &in_cart_velocities, const JointStates &joint_states)
 UnconstraintSolver (const TwistControllerParams &params, 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:

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