weighted_least_norm_solver.h
Go to the documentation of this file.
1 /*
2  * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9 
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
17 
18 #ifndef COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_WEIGHTED_LEAST_NORM_SOLVER_H
19 #define COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_WEIGHTED_LEAST_NORM_SOLVER_H
20 
23 
26 {
27  public:
29  const LimiterParams& limiter_params,
30  TaskStackController_t& task_stack_controller) :
31  ConstraintSolver(params, limiter_params, task_stack_controller)
32  {}
33 
35  {}
36 
41  virtual Eigen::MatrixXd solve(const Vector6d_t& in_cart_velocities,
42  const JointStates& joint_states);
43 
44  private:
51  virtual Eigen::MatrixXd calculateWeighting(const JointStates& joint_states) const;
52 };
53 
54 #endif // COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_WEIGHTED_LEAST_NORM_SOLVER_H
Eigen::Matrix< double, 6, 1 > Vector6d_t
Base class for solvers, defining interface methods.
virtual Eigen::MatrixXd calculateWeighting(const JointStates &joint_states) const
WeightedLeastNormSolver(const TwistControllerParams &params, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller)
virtual Eigen::MatrixXd solve(const Vector6d_t &in_cart_velocities, const JointStates &joint_states)
Implementation of ConstraintSolver to solve inverse kinematics by using a weighted least norm...


cob_twist_controller
Author(s): Felix Messmer , Marco Bezzon , Christoph Mark , Francisco Moreno
autogenerated on Thu Apr 8 2021 02:40:01