constrained_ik: solver_state.cpp Source File

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00001 /*
00002  * Software License Agreement (Apache License)
00003  *
00004  * Copyright (c) 2013, Southwest Research Institute
00005  *
00006  * Licensed under the Apache License, Version 2.0 (the "License");
00007  * you may not use this file except in compliance with the License.
00008  * You may obtain a copy of the License at
00009  *
00010  *   http://www.apache.org/licenses/LICENSE-2.0
00011  *
00012  * Unless required by applicable law or agreed to in writing, software
00013  * distributed under the License is distributed on an "AS IS" BASIS,
00014  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00015  * See the License for the specific language governing permissions and
00016  * limitations under the License.
00017  */
00018 
00019 #include "constrained_ik/solver_state.h"
00020 #include <limits>
00021 #include <ros/ros.h>
00022 
00023 using namespace Eigen;
00024 
00025 namespace constrained_ik
00026 {
00027 
00028 void SolverState::reset(const Eigen::Affine3d &goal, const Eigen::VectorXd &joint_seed)
00029 {
00030   this->goal = goal;
00031   this->joint_seed = joint_seed;
00032   this->iter = 0;
00033   this->joints = VectorXd::Constant(joint_seed.size(), std::numeric_limits<double>::max());
00034   this->joints_delta = VectorXd::Zero(joint_seed.size());
00035   this->pose_estimate = Affine3d::Identity();
00036 }
00037 
00038 
00039 } // namespace constrained_ik
00040