damping.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */


#ifndef COB_TWIST_CONTROLLER_DAMPING_METHODS_DAMPING_H
#define COB_TWIST_CONTROLLER_DAMPING_METHODS_DAMPING_H

#include "cob_twist_controller/damping_methods/damping_base.h"

/* BEGIN DampingBuilder *****************************************************************************************/
class DampingBuilder
{
    public:
        static DampingBase* createDamping(const TwistControllerParams& params);

    private:
        DampingBuilder() {}
        ~DampingBuilder() {}
};
/* END DampingBuilder *******************************************************************************************/

/* BEGIN DampingNone ****************************************************************************************/
class DampingNone : public DampingBase
{
    public:
        explicit DampingNone(const TwistControllerParams& params)
        : DampingBase(params)
        {}

        ~DampingNone() {}

        virtual Eigen::MatrixXd getDampingFactor(const Eigen::VectorXd& sorted_singular_values,
                                                 const Eigen::MatrixXd& jacobian_data) const;
};
/* END DampingNone **********************************************************************************************/

/* BEGIN DampingConstant ****************************************************************************************/
class DampingConstant : public DampingBase
{
    public:
        explicit DampingConstant(const TwistControllerParams& params)
        : DampingBase(params)
        {}

        ~DampingConstant() {}

        virtual Eigen::MatrixXd getDampingFactor(const Eigen::VectorXd& sorted_singular_values,
                                                 const Eigen::MatrixXd& jacobian_data) const;
};
/* END DampingConstant ******************************************************************************************/

/* BEGIN DampingManipulability **********************************************************************************/
class DampingManipulability : public DampingBase
{
    public:
        explicit DampingManipulability(const TwistControllerParams& params)
        : DampingBase(params)
        {}

        ~DampingManipulability() {}

        virtual Eigen::MatrixXd getDampingFactor(const Eigen::VectorXd& sorted_singular_values,
                                                 const Eigen::MatrixXd& jacobian_data) const;
};
/* END DampingManipulability ************************************************************************************/

/* BEGIN DampingLeastSingularValues **********************************************************************************/
class DampingLeastSingularValues : public DampingBase
{
    public:
        explicit DampingLeastSingularValues(const TwistControllerParams& params)
        : DampingBase(params)
        {}

        ~DampingLeastSingularValues() {}

        virtual Eigen::MatrixXd getDampingFactor(const Eigen::VectorXd& sorted_singular_values,
                                                 const Eigen::MatrixXd& jacobian_data) const;
};
/* END DampingLeastSingularValues ************************************************************************************/

/* BEGIN DampingSigmoid **********************************************************************************/
class DampingSigmoid : public DampingBase
{
    public:
        explicit DampingSigmoid(const TwistControllerParams& params)
        : DampingBase(params)
        {}

        ~DampingSigmoid() {}

        virtual Eigen::MatrixXd getDampingFactor(const Eigen::VectorXd& sorted_singular_values,
                                                 const Eigen::MatrixXd& jacobian_data) const;
};
/* END DampingSigmoid ************************************************************************************/

#endif  // COB_TWIST_CONTROLLER_DAMPING_METHODS_DAMPING_H