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 #include <ros/ros.h> 00019 00020 #include "cob_twist_controller/constraint_solvers/solvers/unconstraint_solver.h" 00021 00027 Eigen::MatrixXd UnconstraintSolver::solve(const Vector6d_t& in_cart_velocities, 00028 const JointStates& joint_states) 00029 { 00030 Eigen::MatrixXd pinv = pinv_calc_.calculate(this->params_, this->damping_, this->jacobian_data_); 00031 Eigen::MatrixXd qdots_out = pinv * in_cart_velocities; 00032 return qdots_out; 00033 } 00034