#include <task_priority_solver.h>

Inheritance diagram for TaskPrioritySolver:

Public Member Functions
virtual Eigen::MatrixXd	solve (const Vector6d_t &in_cart_velocities, const JointStates &joint_states)

	TaskPrioritySolver (const TwistControllerParams &params, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller)

virtual	~TaskPrioritySolver ()

Public Member Functions inherited from ConstraintSolver<>
void	clearConstraints ()

	ConstraintSolver (const TwistControllerParams &params, 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 ()

Protected Attributes
ros::Time	last_time_

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 31 of file task_priority_solver.h.

Constructor & Destructor Documentation

◆ TaskPrioritySolver()

TaskPrioritySolver::TaskPrioritySolver	(	const TwistControllerParams &	params,
		const LimiterParams &	limiter_params,
		TaskStackController_t &	task_stack_controller
	)

inline

Definition at line 34 of file task_priority_solver.h.

◆ ~TaskPrioritySolver()

virtual TaskPrioritySolver::~TaskPrioritySolver ( )

inlinevirtual

Definition at line 42 of file task_priority_solver.h.

Member Function Documentation

◆ solve()

Eigen::MatrixXd TaskPrioritySolver::solve	(	const Vector6d_t &	in_cart_velocities,
		const JointStates &	joint_states
	)

virtual

Specific implementation of solve-method to solve IK problem with constraints by using the GPM. See base class ConstraintSolver for more details on params and returns.

Solve the inverse differential kinematics equation by using a two tasks. Maciejewski A., Obstacle Avoidance for Kinematically Redundant Manipulators in Dyn Varying Environments.

Implements ConstraintSolver<>.

Definition at line 26 of file task_priority_solver.cpp.

Member Data Documentation

◆ last_time_

ros::Time TaskPrioritySolver::last_time_

protected

Definition at line 53 of file task_priority_solver.h.

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

Public Member Functions

Protected Attributes