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18 #ifndef COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_FACTORIES_SOLVER_FACTORY_H
19 #define COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_FACTORIES_SOLVER_FACTORY_H
24 #include <kdl/jntarray.hpp>
38 std::set<ConstraintBase_t>& constraints)
const = 0;
75 std::set<ConstraintBase_t>& constraints)
const
80 Eigen::MatrixXd new_q_dot =
constraint_solver_->solve(in_cart_velocities, joint_states);
88 #endif // COB_TWIST_CONTROLLER_CONSTRAINT_SOLVERS_FACTORIES_SOLVER_FACTORY_H
virtual ~ISolverFactory()
Interface definition to support generic usage of the solver factory without specifying a typename in ...
Abstract base class defining interfaces for the creation of a specific solver.
boost::shared_ptr< T > constraint_solver_
virtual Eigen::MatrixXd calculateJointVelocities(Matrix6Xd_t &jacobian_data, const Vector6d_t &in_cart_velocities, const JointStates &joint_states, boost::shared_ptr< DampingBase > &damping_method, std::set< ConstraintBase_t > &constraints) const =0
Eigen::Matrix< double, 6, 1 > Vector6d_t
Eigen::Matrix< double, 6, Eigen::Dynamic > Matrix6Xd_t
Eigen::MatrixXd calculateJointVelocities(Matrix6Xd_t &jacobian_data, const Vector6d_t &in_cart_velocities, const JointStates &joint_states, boost::shared_ptr< DampingBase > &damping_method, std::set< ConstraintBase_t > &constraints) const
SolverFactory(const TwistControllerParams ¶ms, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller)
cob_twist_controller
Author(s): Felix Messmer
, Marco Bezzon , Christoph Mark , Francisco Moreno
autogenerated on Mon May 1 2023 02:44:43