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_INVERSE_JACOBIAN_CALCULATIONS_INVERSE_JACOBIAN_CALCULATION_BASE_H 00019 #define COB_TWIST_CONTROLLER_INVERSE_JACOBIAN_CALCULATIONS_INVERSE_JACOBIAN_CALCULATION_BASE_H 00020 00021 #include <Eigen/Core> 00022 #include <boost/shared_ptr.hpp> 00023 #include "cob_twist_controller/damping_methods/damping_base.h" 00024 #include "cob_twist_controller/cob_twist_controller_data_types.h" 00025 00026 class IPseudoinverseCalculator 00027 { 00028 public: 00034 virtual Eigen::MatrixXd calculate(const Eigen::MatrixXd& jacobian) const = 0; 00035 00043 virtual Eigen::MatrixXd calculate(const TwistControllerParams& params, 00044 boost::shared_ptr<DampingBase> db, 00045 const Eigen::MatrixXd& jacobian) const = 0; 00046 00050 virtual ~IPseudoinverseCalculator() {} 00051 }; 00052 00053 #endif // COB_TWIST_CONTROLLER_INVERSE_JACOBIAN_CALCULATIONS_INVERSE_JACOBIAN_CALCULATION_BASE_H