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_WLN_JOINT_LIMIT_AVOIDANCE_SOLVER_H 00019 #define COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_WLN_JOINT_LIMIT_AVOIDANCE_SOLVER_H 00020 00021 #include "cob_twist_controller/cob_twist_controller_data_types.h" 00022 #include "cob_twist_controller/constraint_solvers/solvers/weighted_least_norm_solver.h" 00023 00026 class WLN_JointLimitAvoidanceSolver : public WeightedLeastNormSolver 00027 { 00028 public: 00029 WLN_JointLimitAvoidanceSolver(const TwistControllerParams& params, 00030 const LimiterParams& limiter_params, 00031 TaskStackController_t& task_stack_controller) : 00032 WeightedLeastNormSolver(params, limiter_params, task_stack_controller) 00033 {} 00034 00035 virtual ~WLN_JointLimitAvoidanceSolver() 00036 {} 00037 00038 private: 00046 virtual Eigen::MatrixXd calculateWeighting(const JointStates& joint_states) const; 00047 }; 00048 00049 #endif // COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_WLN_JOINT_LIMIT_AVOIDANCE_SOLVER_H