inverse_jacobian_calculation.h
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1 /*
2  * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9 
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
17 
18 #ifndef COB_TWIST_CONTROLLER_INVERSE_JACOBIAN_CALCULATIONS_INVERSE_JACOBIAN_CALCULATION_H
19 #define COB_TWIST_CONTROLLER_INVERSE_JACOBIAN_CALCULATIONS_INVERSE_JACOBIAN_CALCULATION_H
20 
22 
23 /* BEGIN PInvBySVD **********************************************************************************************/
25 {
26  public:
30  virtual Eigen::MatrixXd calculate(const Eigen::MatrixXd& jacobian) const;
31 
35  virtual Eigen::MatrixXd calculate(const TwistControllerParams& params,
37  const Eigen::MatrixXd& jacobian) const;
38 
39  virtual ~PInvBySVD() {}
40 };
41 /* END PInvBySVD ************************************************************************************************/
42 
43 /* BEGIN PInvDirect **********************************************************************************************/
45 {
46  public:
50  virtual Eigen::MatrixXd calculate(const Eigen::MatrixXd& jacobian) const;
51 
55  virtual Eigen::MatrixXd calculate(const TwistControllerParams& params,
57  const Eigen::MatrixXd& jacobian) const;
58 
59  virtual ~PInvDirect() {}
60 };
61 /* END PInvDirect ************************************************************************************************/
62 
63 #endif // COB_TWIST_CONTROLLER_INVERSE_JACOBIAN_CALCULATIONS_INVERSE_JACOBIAN_CALCULATION_H
virtual Eigen::MatrixXd calculate(const Eigen::MatrixXd &jacobian) const


cob_twist_controller
Author(s): Felix Messmer , Marco Bezzon , Christoph Mark , Francisco Moreno
autogenerated on Thu Apr 8 2021 02:40:00