00001 /* 00002 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 00018 #ifndef COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_GRADIENT_PROJECTION_METHOD_SOLVER_H 00019 #define COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_GRADIENT_PROJECTION_METHOD_SOLVER_H 00020 00021 #include <set> 00022 #include "ros/ros.h" 00023 00024 #include "cob_twist_controller/cob_twist_controller_data_types.h" 00025 #include "cob_twist_controller/constraint_solvers/solvers/constraint_solver_base.h" 00026 00027 #include "cob_twist_controller/constraints/constraint_base.h" 00028 #include "cob_twist_controller/constraints/constraint.h" 00029 00030 class GradientProjectionMethodSolver : public ConstraintSolver<> 00031 { 00032 public: 00033 GradientProjectionMethodSolver(const TwistControllerParams& params, 00034 const LimiterParams& limiter_params, 00035 TaskStackController_t& task_stack_controller) : 00036 ConstraintSolver(params, limiter_params, task_stack_controller) 00037 {} 00038 00039 virtual ~GradientProjectionMethodSolver() 00040 {} 00041 00046 virtual Eigen::MatrixXd solve(const Vector6d_t& in_cart_velocities, 00047 const JointStates& joint_states); 00048 }; 00049 00050 #endif // COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_GRADIENT_PROJECTION_METHOD_SOLVER_H