Static class providing a single method for creation of damping method, solver and starting the solving of the IK problem. More...

#include <constraint_solver_factory.h>

Public Member Functions
int8_t	calculateJointVelocities (Matrix6Xd_t &jacobian_data, const Vector6d_t &in_cart_velocities, const JointStates &joint_states, Eigen::MatrixXd &out_jnt_velocities)

	ConstraintSolverFactory (CallbackDataMediator &data_mediator, KDL::ChainJntToJacSolver &jnt_to_jac, KDL::ChainFkSolverVel_recursive &fk_solver_vel, TaskStackController_t &task_stack_controller)

int8_t	resetAll (const TwistControllerParams &params, const LimiterParams &limiter_params)

	~ConstraintSolverFactory ()

Static Public Member Functions
static bool	getSolverFactory (const TwistControllerParams &params, const LimiterParams &limiter_params, boost::shared_ptr< ISolverFactory > &solver_factory, TaskStackController_t &task_stack_controller)

Private Attributes
std::set< ConstraintBase_t >	constraints_

boost::shared_ptr< DampingBase >	damping_method_

CallbackDataMediator &	data_mediator_

KDL::ChainFkSolverVel_recursive &	fk_solver_vel_

KDL::ChainJntToJacSolver &	jnt_to_jac_

boost::shared_ptr< ISolverFactory >	solver_factory_

TaskStackController_t &	task_stack_controller_

Detailed Description

Static class providing a single method for creation of damping method, solver and starting the solving of the IK problem.

Definition at line 34 of file constraint_solver_factory.h.

Constructor & Destructor Documentation

ConstraintSolverFactory::ConstraintSolverFactory	(	CallbackDataMediator &	data_mediator,
		KDL::ChainJntToJacSolver &	jnt_to_jac,
		KDL::ChainFkSolverVel_recursive &	fk_solver_vel,
		TaskStackController_t &	task_stack_controller
	)

inline

Ctor of ConstraintSolverFactoryBuilder.

Parameters

data_mediator	Reference to an callback data mediator.
jnt_to_jac	Reference to an joint to Jacobian solver.

Definition at line 42 of file constraint_solver_factory.h.

ConstraintSolverFactory::~ConstraintSolverFactory ( )

inline

Definition at line 55 of file constraint_solver_factory.h.

Member Function Documentation

int8_t ConstraintSolverFactory::calculateJointVelocities	(	Matrix6Xd_t &	jacobian_data,
		const Vector6d_t &	in_cart_velocities,
		const JointStates &	joint_states,
		Eigen::MatrixXd &	out_jnt_velocities
	)

Calculation of new joint velocities according to current joint positions and cartesian velocities.

Parameters

params	References the inv. diff. kin. solver parameters.
jacobian_data	References the current Jacobian (matrix data only).
in_cart_velocities	The input velocities vector (in cartesian space).
joint_states	The joint states and history.
out_jnt_velocities	The calculated joint velocities as output reference.

Returns: The calculated new joint velocities in (m x 1)-Matrix.

Out of the parameters generates a damping method (e.g. constant or manipulability) and calculates the damping factor. Dependent on JLA active flag a JointLimitAvoidanceSolver or a UnconstraintSolver is generated to solve the IK problem. The objects are generated for each solve-request. After calculation the objects are deleted.

Definition at line 39 of file constraint_solver_factory.cpp.

bool ConstraintSolverFactory::getSolverFactory	(	const TwistControllerParams &	params,
		const LimiterParams &	limiter_params,
		boost::shared_ptr< ISolverFactory > &	solver_factory,
		TaskStackController_t &	task_stack_controller
	)