Public Member Functions
IPseudoinverseCalculator Class Reference

#include <inverse_jacobian_calculation_base.h>

Inheritance diagram for IPseudoinverseCalculator:
Inheritance graph
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List of all members.

Public Member Functions

virtual Eigen::MatrixXd calculate (const Eigen::MatrixXd &jacobian) const =0
virtual Eigen::MatrixXd calculate (const TwistControllerParams &params, boost::shared_ptr< DampingBase > db, const Eigen::MatrixXd &jacobian) const =0
virtual ~IPseudoinverseCalculator ()

Detailed Description

Definition at line 26 of file inverse_jacobian_calculation_base.h.


Constructor & Destructor Documentation

Class has no members so implementing an empty destructor.

Definition at line 50 of file inverse_jacobian_calculation_base.h.


Member Function Documentation

virtual Eigen::MatrixXd IPseudoinverseCalculator::calculate ( const Eigen::MatrixXd &  jacobian) const [pure virtual]

Pure virtual method for calculation of the pseudoinverse

Parameters:
jacobianThe Jacobi matrix.
Returns:
A pseudoinverse Jacobian

Implemented in PInvDirect, and PInvBySVD.

virtual Eigen::MatrixXd IPseudoinverseCalculator::calculate ( const TwistControllerParams params,
boost::shared_ptr< DampingBase db,
const Eigen::MatrixXd &  jacobian 
) const [pure virtual]

Pure virtual method for calculation of the pseudoinverse (allows to consider damping and truncation)

Parameters:
paramsThe parameters from parameter server.
dbThe damping method.
jacobianThe Jacobi matrix.
Returns:
A pseudoinverse Jacobian

Implemented in PInvDirect, and PInvBySVD.


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


cob_twist_controller
Author(s): Felix Messmer , Marco Bezzon , Christoph Mark , Francisco Moreno
autogenerated on Thu Jun 6 2019 21:19:26