unified_joint_limit_singularity_solver.h
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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 #ifndef COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_UNIFIED_JOINT_LIMIT_SINGULARITY_SOLVER_H
00019 #define COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_UNIFIED_JOINT_LIMIT_SINGULARITY_SOLVER_H
00020 
00021 #include "cob_twist_controller/cob_twist_controller_data_types.h"
00022 #include "cob_twist_controller/constraint_solvers/solvers/constraint_solver_base.h"
00023 
00025 class UnifiedJointLimitSingularitySolver : public ConstraintSolver<>
00026 {
00027     public:
00028         UnifiedJointLimitSingularitySolver(const TwistControllerParams& params,
00029                                            const LimiterParams& limiter_params,
00030                                            TaskStackController_t& task_stack_controller) :
00031                 ConstraintSolver(params, limiter_params, task_stack_controller)
00032         {}
00033 
00034         virtual ~UnifiedJointLimitSingularitySolver()
00035         {}
00036 
00041         virtual Eigen::MatrixXd solve(const Vector6d_t& in_cart_velocities,
00042                                       const JointStates& joint_states);
00043 
00044     private:
00051         virtual Eigen::MatrixXd calculateWeighting(const Vector6d_t& in_cart_velocities, const JointStates& joint_states) const;
00052 };
00053 
00054 #endif  // COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_UNIFIED_JOINT_LIMIT_SINGULARITY_SOLVER_H


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