Class implementing a method to return a damping factor based on a sigmoid function. More...
#include <damping.h>
Public Member Functions | |
DampingSigmoid (const TwistControllerParams ¶ms) | |
virtual Eigen::MatrixXd | getDampingFactor (const Eigen::VectorXd &sorted_singular_values, const Eigen::MatrixXd &jacobian_data) const |
~DampingSigmoid () |
Class implementing a method to return a damping factor based on a sigmoid function.
DampingSigmoid::DampingSigmoid | ( | const TwistControllerParams & | params | ) | [inline, explicit] |
DampingSigmoid::~DampingSigmoid | ( | ) | [inline] |
Eigen::MatrixXd DampingSigmoid::getDampingFactor | ( | const Eigen::VectorXd & | sorted_singular_values, |
const Eigen::MatrixXd & | jacobian_data | ||
) | const [virtual] |
Method returns the damping factor based on a sigmoid function on the value of each singular value.
Implements DampingBase.
Definition at line 137 of file damping.cpp.