#include <unconstraint_solver.h>
Inheritance diagram for UnconstraintSolver:
Public Member Functions | |
| virtual Eigen::MatrixXd | solve (const Vector6d_t &in_cart_velocities, const JointStates &joint_states) |
| UnconstraintSolver (const TwistControllerParams ¶ms, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller) | |
| virtual | ~UnconstraintSolver () |
 Public Member Functions inherited from ConstraintSolver<> | |
| void | clearConstraints () |
| ConstraintSolver (const TwistControllerParams ¶ms, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller) | |
| void | setConstraints (std::set< ConstraintBase_t > &constraints) |
| void | setDamping (boost::shared_ptr< DampingBase > &damping) |
| virtual void | setJacobianData (const Matrix6Xd_t &jacobian_data) |
| virtual | ~ConstraintSolver () |
Additional Inherited Members | |
| Protected Attributes inherited from ConstraintSolver<> | |
| std::set< ConstraintBase_t > | constraints_ |
| set inserts sorted (default less operator); if element has already been added it returns an iterator on it. More... | |
| boost::shared_ptr< DampingBase > | damping_ |
| References the current Jacobian (matrix data only). More... | |
| Matrix6Xd_t | jacobian_data_ |
| References the limiter parameters (up-to-date according to KinematicExtension). More... | |
| const LimiterParams & | limiter_params_ |
| References the inv. diff. kin. solver parameters. More... | |
| const TwistControllerParams & | params_ |
| Set of constraints. More... | |
| PInvBySVD | pinv_calc_ |
| The currently set damping method. More... | |
| TaskStackController_t & | task_stack_controller_ |
| An instance that helps solving the inverse of the Jacobian. More... | |
Detailed Description
Definition at line 24 of file unconstraint_solver.h.
Constructor & Destructor Documentation
|
inline |
Definition at line 27 of file unconstraint_solver.h.
|
inlinevirtual |
Definition at line 33 of file unconstraint_solver.h.
Member Function Documentation
|
virtual |
Specific implementation of solve-method to solve IK problem without any constraints. See base class ConstraintSolver for more details on params and returns.
Implementation of a default solve-method for the inverse kinematics problem. It calculates the pseudo-inverse of the Jacobian via the base implementation of calculatePinvJacobianBySVD. With the pseudo-inverse the joint velocity vector is calculated.
Implements ConstraintSolver<>.
Definition at line 27 of file unconstraint_solver.cpp.
The documentation for this class was generated from the following files: