unconstraint_solver.cpp

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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.
 */
 
 
#include <ros/ros.h>
 
#include "cob_twist_controller/constraint_solvers/solvers/unconstraint_solver.h"
 
Eigen::MatrixXd UnconstraintSolver::solve(const Vector6d_t& in_cart_velocities,
                                          const JointStates& joint_states)
{
    Eigen::MatrixXd pinv = pinv_calc_.calculate(this->params_, this->damping_, this->jacobian_data_);
    Eigen::MatrixXd qdots_out = pinv * in_cart_velocities;
    return qdots_out;
}