unconstraint_solver.cpp
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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 


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