#include <gradient_projection_method_solver.h>

Inheritance diagram for GradientProjectionMethodSolver:

Public Member Functions
	GradientProjectionMethodSolver (const TwistControllerParams &params, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller)

virtual Eigen::MatrixXd	solve (const Vector6d_t &in_cart_velocities, const JointStates &joint_states)

virtual	~GradientProjectionMethodSolver ()

Public Member Functions inherited from ConstraintSolver<>
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	~ConstraintSolver ()

Additional Inherited Members
Protected Attributes inherited from ConstraintSolver<>
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...

PInvBySVD	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

Definition at line 30 of file gradient_projection_method_solver.h.

Constructor & Destructor Documentation

◆ GradientProjectionMethodSolver()

GradientProjectionMethodSolver::GradientProjectionMethodSolver	(	const TwistControllerParams &	params,
		const LimiterParams &	limiter_params,
		TaskStackController_t &	task_stack_controller
	)

inline

Definition at line 33 of file gradient_projection_method_solver.h.

◆ ~GradientProjectionMethodSolver()

virtual GradientProjectionMethodSolver::~GradientProjectionMethodSolver ( )

inlinevirtual

Definition at line 39 of file gradient_projection_method_solver.h.

Member Function Documentation

◆ solve()

Eigen::MatrixXd GradientProjectionMethodSolver::solve	(	const Vector6d_t &	in_cart_velocities,
		const JointStates &	joint_states
	)

virtual

Specific implementation of solve-method to solve IK problem with constraints by using the GPM. See base class ConstraintSolver for more details on params and returns.

Solve the inverse differential kinematics equation by using GPM. In addtion to the partial solution q_dot = J^+ * v the homogeneous solution (I - J^+ * J) q_dot_0 is calculated. The q_dot_0 results from the sum of the constraint cost function gradients. The terms of the sum are weighted with a factor k_H separately.

Implements ConstraintSolver<>.

Definition at line 28 of file gradient_projection_method_solver.cpp.

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