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_CONSTRAINT_SOLVERS_SOLVERS_WEIGHTED_LEAST_NORM_SOLVER_H 00019 #define COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_WEIGHTED_LEAST_NORM_SOLVER_H 00020 00021 #include "cob_twist_controller/cob_twist_controller_data_types.h" 00022 #include "cob_twist_controller/constraint_solvers/solvers/constraint_solver_base.h" 00023 00025 class WeightedLeastNormSolver : public ConstraintSolver<> 00026 { 00027 public: 00028 WeightedLeastNormSolver(const TwistControllerParams& params, 00029 const LimiterParams& limiter_params, 00030 TaskStackController_t& task_stack_controller) : 00031 ConstraintSolver(params, limiter_params, task_stack_controller) 00032 {} 00033 00034 virtual ~WeightedLeastNormSolver() 00035 {} 00036 00041 virtual Eigen::MatrixXd solve(const Vector6d_t& in_cart_velocities, 00042 const JointStates& joint_states); 00043 00044 private: 00051 virtual Eigen::MatrixXd calculateWeighting(const JointStates& joint_states) const; 00052 }; 00053 00054 #endif // COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_WEIGHTED_LEAST_NORM_SOLVER_H