#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 ¶ms, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller) | |
| virtual | ~TaskPrioritySolver () |
Protected Attributes | |
| ros::Time | last_time_ |
Detailed Description
Definition at line 31 of file task_priority_solver.h.
Constructor & Destructor Documentation
| 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.
| virtual TaskPrioritySolver::~TaskPrioritySolver | ( | ) | [inline, virtual] |
Definition at line 42 of file task_priority_solver.h.
Member Function Documentation
| 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
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: