WeightedLeastNormSolver Class Reference

Implementation of ConstraintSolver to solve inverse kinematics by using a weighted least norm. More...

`#include <weighted_least_norm_solver.h>`

Inheritance diagram for WeightedLeastNormSolver:

## Public Member Functions | |

virtual Eigen::MatrixXd | solve (const Vector6d_t &in_cart_velocities, const JointStates &joint_states) |

WeightedLeastNormSolver (const TwistControllerParams ¶ms, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller) | |

virtual | ~WeightedLeastNormSolver () |

## Private Member Functions | |

virtual Eigen::MatrixXd | calculateWeighting (const JointStates &joint_states) const |

Implementation of ConstraintSolver to solve inverse kinematics by using a weighted least norm.

Definition at line 25 of file weighted_least_norm_solver.h.

WeightedLeastNormSolver::WeightedLeastNormSolver | ( | const TwistControllerParams & | params, |

const LimiterParams & | limiter_params, |
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TaskStackController_t & | task_stack_controller |
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) | ` [inline]` |

Definition at line 28 of file weighted_least_norm_solver.h.

virtual WeightedLeastNormSolver::~WeightedLeastNormSolver | ( | ) | ` [inline, virtual]` |

Definition at line 34 of file weighted_least_norm_solver.h.

Eigen::MatrixXd WeightedLeastNormSolver::calculateWeighting | ( | const JointStates & | joint_states | ) | const` [private, virtual]` |

Virtual helper method that calculates a weighting for the Jacobian to adapt joint velocity calculation for given constraints.

**Parameters:**-
q The current joint positions. q_dot The current joint velocities.

**Returns:**- Diagonal weighting matrix that adapts the Jacobian.

This function returns the identity as weighting matrix for base functionality.

Reimplemented in WLN_JointLimitAvoidanceSolver.

Definition at line 45 of file weighted_least_norm_solver.cpp.

Eigen::MatrixXd WeightedLeastNormSolver::solve | ( | const Vector6d_t & | in_cart_velocities, |

const JointStates & | joint_states |
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) | ` [virtual]` |

Specific implementation of solve-method to solve IK problem with joint limit avoidance. See base class ConstraintSolver for more details on params and returns.

Specific implementation of the solve method using a weighted least norm. This is done by calculation of a weighting which is dependent on inherited classes for the Jacobian. Uses the base implementation of calculatePinvJacobianBySVD to calculate the pseudo-inverse (weighted) Jacobian.

Implements ConstraintSolver<>.

Definition at line 25 of file weighted_least_norm_solver.cpp.

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

cob_twist_controller

Author(s): Felix Messmer, Marco Bezzon , Christoph Mark , Francisco Moreno

autogenerated on Thu Jun 6 2019 21:19:26

Author(s): Felix Messmer

autogenerated on Thu Jun 6 2019 21:19:26