SolverFactory< T > Class Template Reference

Abstract base class defining interfaces for the creation of a specific solver. More...

#include <solver_factory.h>

Inheritance diagram for SolverFactory< T >:

Public Member Functions
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 &params, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller)
	~SolverFactory ()
Public Member Functions inherited from ISolverFactory
virtual	~ISolverFactory ()

Private Attributes
boost::shared_ptr< T >	constraint_solver_

Detailed Description

template<typename T>
class SolverFactory< T >

Abstract base class defining interfaces for the creation of a specific solver.

Definition at line 45 of file solver_factory.h.

Constructor & Destructor Documentation

template<typename T >

SolverFactory< T >::SolverFactory ( const TwistControllerParams &  params, const LimiterParams &  limiter_params, TaskStackController_t &  task_stack_controller  )

inline

Definition at line 48 of file solver_factory.h.

template<typename T >

SolverFactory< T >::~SolverFactory ( )

inline

Definition at line 55 of file solver_factory.h.

Member Function Documentation

template<typename T >

Eigen::MatrixXd SolverFactory< T >::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

inlinevirtual

The base calculation method to calculate joint velocities out of input velocities (cartesian space). Creates a solver according to implemented createSolver-method (in subclass). Use the specialized solve-method to calculate new joint velocities.

Parameters

params	References the inv. diff. kin. solver parameters.
jacobian_data	References the current Jacobian (matrix data only).
in_cart_velocities	The input velocities vector (in cartesian space).
joint_states	The joint states with history.
damping_method	The damping method.

Returns

Joint velocities in a (m x 1)-Matrix.

Implements ISolverFactory.

Definition at line 71 of file solver_factory.h.

Member Data Documentation

template<typename T >

boost::shared_ptr<T> SolverFactory< T >::constraint_solver_

private

Definition at line 85 of file solver_factory.h.

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

• solver_factory.h