ConstraintSolver< PINV > Class Template Reference

Base class for solvers, defining interface methods. More...

#include <constraint_solver_base.h>

Public Member Functions
void	clearConstraints ()
	ConstraintSolver (const TwistControllerParams &params, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller)
void	setConstraints (std::set< ConstraintBase_t > &constraints)
void	setDamping (boost::shared_ptr< DampingBase > &damping)
virtual void	setJacobianData (const Matrix6Xd_t &jacobian_data)
virtual Eigen::MatrixXd	solve (const Vector6d_t &in_cart_velocities, const JointStates &joint_states)=0
virtual	~ConstraintSolver ()

Protected Attributes
std::set< ConstraintBase_t >	constraints_
	set inserts sorted (default less operator); if element has already been added it returns an iterator on it. More...
boost::shared_ptr< DampingBase >	damping_
	References the current Jacobian (matrix data only). More...
Matrix6Xd_t	jacobian_data_
	References the limiter parameters (up-to-date according to KinematicExtension). More...
const LimiterParams &	limiter_params_
	References the inv. diff. kin. solver parameters. More...
const TwistControllerParams &	params_
	Set of constraints. More...
PINV	pinv_calc_
	The currently set damping method. More...
TaskStackController_t &	task_stack_controller_
	An instance that helps solving the inverse of the Jacobian. More...

Detailed Description

template<typename PINV = PInvBySVD>
class ConstraintSolver< PINV >

Base class for solvers, defining interface methods.

Definition at line 33 of file constraint_solver_base.h.

Constructor & Destructor Documentation

template<typename PINV = PInvBySVD>

virtual ConstraintSolver< PINV >::~ConstraintSolver ( )

inlinevirtual

Definition at line 80 of file constraint_solver_base.h.

template<typename PINV = PInvBySVD>

ConstraintSolver< PINV >::ConstraintSolver ( const TwistControllerParams &  params, const LimiterParams &  limiter_params, TaskStackController_t &  task_stack_controller  )

inline

Definition at line 85 of file constraint_solver_base.h.

Member Function Documentation

template<typename PINV = PInvBySVD>

void ConstraintSolver< PINV >::clearConstraints ( )

inline

Calls destructor on all objects and clears the set

Definition at line 67 of file constraint_solver_base.h.

template<typename PINV = PInvBySVD>

void ConstraintSolver< PINV >::setConstraints ( std::set< ConstraintBase_t > &  constraints )

inline

Set all created constraints in a (priorized) set.

Parameters

constraints

All constraints ordered according to priority.

Definition at line 58 of file constraint_solver_base.h.

template<typename PINV = PInvBySVD>

void ConstraintSolver< PINV >::setDamping ( boost::shared_ptr< DampingBase > &  damping )

inline

Inline method to set the damping

Parameters

damping

The new damping

Definition at line 49 of file constraint_solver_base.h.

template<typename PINV = PInvBySVD>

virtual void ConstraintSolver< PINV >::setJacobianData ( const Matrix6Xd_t &  jacobian_data )

inlinevirtual

Method to initialize the solver if necessary

Definition at line 75 of file constraint_solver_base.h.

template<typename PINV = PInvBySVD>

virtual Eigen::MatrixXd ConstraintSolver< PINV >::solve ( const Vector6d_t &  in_cart_velocities, const JointStates &  joint_states  )

pure virtual

The interface method to solve the inverse kinematics problem. Has to be implemented in inherited classes.

Parameters

in_cart_velocities	The input velocities vector (in cartesian space).
joint_states	The joint states with history.

Returns

The calculated new joint velocities.

Implemented in StackOfTasksSolver, TaskPrioritySolver, GradientProjectionMethodSolver, UnifiedJointLimitSingularitySolver, WeightedLeastNormSolver, and UnconstraintSolver.

Member Data Documentation

template<typename PINV = PInvBySVD>

std::set<ConstraintBase_t> ConstraintSolver< PINV >::constraints_

protected

set inserts sorted (default less operator); if element has already been added it returns an iterator on it.

Definition at line 95 of file constraint_solver_base.h.

template<typename PINV = PInvBySVD>

boost::shared_ptr<DampingBase> ConstraintSolver< PINV >::damping_

protected

References the current Jacobian (matrix data only).

Definition at line 99 of file constraint_solver_base.h.

template<typename PINV = PInvBySVD>

Matrix6Xd_t ConstraintSolver< PINV >::jacobian_data_

protected

References the limiter parameters (up-to-date according to KinematicExtension).

Definition at line 98 of file constraint_solver_base.h.

template<typename PINV = PInvBySVD>

const LimiterParams& ConstraintSolver< PINV >::limiter_params_

protected

References the inv. diff. kin. solver parameters.

Definition at line 97 of file constraint_solver_base.h.

template<typename PINV = PInvBySVD>

const TwistControllerParams& ConstraintSolver< PINV >::params_

protected

Set of constraints.

Definition at line 96 of file constraint_solver_base.h.

template<typename PINV = PInvBySVD>

PINV ConstraintSolver< PINV >::pinv_calc_

protected

The currently set damping method.

Definition at line 100 of file constraint_solver_base.h.

template<typename PINV = PInvBySVD>

TaskStackController_t& ConstraintSolver< PINV >::task_stack_controller_

protected

An instance that helps solving the inverse of the Jacobian.

Definition at line 101 of file constraint_solver_base.h.

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The documentation for this class was generated from the following file:

• constraint_solver_base.h