PInvBySVD Class Reference

#include <inverse_jacobian_calculation.h>

Inheritance diagram for PInvBySVD:

Public Member Functions
virtual Eigen::MatrixXd	calculate (const Eigen::MatrixXd &jacobian) const
virtual Eigen::MatrixXd	calculate (const TwistControllerParams &params, boost::shared_ptr< DampingBase > db, const Eigen::MatrixXd &jacobian) const
virtual	~PInvBySVD ()
Public Member Functions inherited from IPseudoinverseCalculator
virtual	~IPseudoinverseCalculator ()

Detailed Description

Definition at line 24 of file inverse_jacobian_calculation.h.

Constructor & Destructor Documentation

virtual PInvBySVD::~PInvBySVD ( )

inlinevirtual

Definition at line 39 of file inverse_jacobian_calculation.h.

Member Function Documentation

Eigen::MatrixXd PInvBySVD::calculate ( const Eigen::MatrixXd &  jacobian ) const

virtual

Implementation of calculate member See base for more information on parameters

Calculates the pseudoinverse of the Jacobian by using SVD technique. This allows to get information about singular values and evaluate them.

Implements IPseudoinverseCalculator.

Definition at line 28 of file inverse_jacobian_calculation.cpp.

Eigen::MatrixXd PInvBySVD::calculate ( const TwistControllerParams &  params, boost::shared_ptr< DampingBase >  db, const Eigen::MatrixXd &  jacobian  ) const

virtual

Implementation of calculate member See base for more information on parameters

Calculates the pseudoinverse of the Jacobian by using SVD technique. This allows to get information about singular values and evaluate them.

Implements IPseudoinverseCalculator.

Definition at line 51 of file inverse_jacobian_calculation.cpp.

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The documentation for this class was generated from the following files:

• inverse_jacobian_calculation.h
• inverse_jacobian_calculation.cpp