IPseudoinverseCalculator Class Reference

#include <inverse_jacobian_calculation_base.h>

Inheritance diagram for IPseudoinverseCalculator:

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

virtual IPseudoinverseCalculator::~IPseudoinverseCalculator ( )

inlinevirtual

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

jacobian

The 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

params	The parameters from parameter server.
db	The damping method.
jacobian	The Jacobi matrix.

Returns

A pseudoinverse Jacobian

Implemented in PInvDirect, and PInvBySVD.

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

• inverse_jacobian_calculation_base.h