18 #ifndef COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_UNCONSTRAINT_SOLVER_H 19 #define COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_UNCONSTRAINT_SOLVER_H 44 #endif // COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_SOLVERS_UNCONSTRAINT_SOLVER_H
Eigen::Matrix< double, 6, 1 > Vector6d_t
UnconstraintSolver(const TwistControllerParams ¶ms, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller)
virtual Eigen::MatrixXd solve(const Vector6d_t &in_cart_velocities, const JointStates &joint_states)
Base class for solvers, defining interface methods.
virtual ~UnconstraintSolver()