00001 /* 00002 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 00018 #ifndef COB_TWIST_CONTROLLER_INVERSE_JACOBIAN_CALCULATIONS_INVERSE_JACOBIAN_CALCULATION_H 00019 #define COB_TWIST_CONTROLLER_INVERSE_JACOBIAN_CALCULATIONS_INVERSE_JACOBIAN_CALCULATION_H 00020 00021 #include "cob_twist_controller/inverse_jacobian_calculations/inverse_jacobian_calculation_base.h" 00022 00023 /* BEGIN PInvBySVD **********************************************************************************************/ 00024 class PInvBySVD : public IPseudoinverseCalculator 00025 { 00026 public: 00030 virtual Eigen::MatrixXd calculate(const Eigen::MatrixXd& jacobian) const; 00031 00035 virtual Eigen::MatrixXd calculate(const TwistControllerParams& params, 00036 boost::shared_ptr<DampingBase> db, 00037 const Eigen::MatrixXd& jacobian) const; 00038 00039 virtual ~PInvBySVD() {} 00040 }; 00041 /* END PInvBySVD ************************************************************************************************/ 00042 00043 /* BEGIN PInvDirect **********************************************************************************************/ 00044 class PInvDirect : public IPseudoinverseCalculator 00045 { 00046 public: 00050 virtual Eigen::MatrixXd calculate(const Eigen::MatrixXd& jacobian) const; 00051 00055 virtual Eigen::MatrixXd calculate(const TwistControllerParams& params, 00056 boost::shared_ptr<DampingBase> db, 00057 const Eigen::MatrixXd& jacobian) const; 00058 00059 virtual ~PInvDirect() {} 00060 }; 00061 /* END PInvDirect ************************************************************************************************/ 00062 00063 #endif // COB_TWIST_CONTROLLER_INVERSE_JACOBIAN_CALCULATIONS_INVERSE_JACOBIAN_CALCULATION_H