#include <stack_of_tasks_solver.h>

Inheritance diagram for StackOfTasksSolver:

Public Member Functions
void	processState (std::set< ConstraintBase_t >::iterator &it, const Eigen::MatrixXd &projector, const Eigen::MatrixXd &particular_solution, double inv_sum_of_prios, Eigen::VectorXd &sum_of_gradient)

virtual Eigen::MatrixXd	solve (const Vector6d_t &in_cart_velocities, const JointStates &joint_states)

	StackOfTasksSolver (const TwistControllerParams &params, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller)

virtual	~StackOfTasksSolver ()

Public Member Functions inherited from ConstraintSolver<>
void	clearConstraints ()

	ConstraintSolver (const TwistControllerParams &params, const LimiterParams &limiter_params, TaskStackController_t &task_stack_controller)

void	setConstraints (std::set< ConstraintBase_t > &constraints)

void	setDamping (boost::shared_ptr< DampingBase > &damping)

virtual void	setJacobianData (const Matrix6Xd_t &jacobian_data)

virtual	~ConstraintSolver ()

Protected Attributes
EN_ConstraintStates	global_constraint_state_

double	in_cart_vel_damping_

ros::Time	last_time_

Protected Attributes inherited from ConstraintSolver<>
std::set< ConstraintBase_t >	constraints_
	set inserts sorted (default less operator); if element has already been added it returns an iterator on it. More...

boost::shared_ptr< DampingBase >	damping_
	References the current Jacobian (matrix data only). More...

Matrix6Xd_t	jacobian_data_
	References the limiter parameters (up-to-date according to KinematicExtension). More...

const LimiterParams &	limiter_params_
	References the inv. diff. kin. solver parameters. More...

const TwistControllerParams &	params_
	Set of constraints. More...

PInvBySVD	pinv_calc_
	The currently set damping method. More...

TaskStackController_t &	task_stack_controller_
	An instance that helps solving the inverse of the Jacobian. More...

Detailed Description

Definition at line 32 of file stack_of_tasks_solver.h.

Constructor & Destructor Documentation

StackOfTasksSolver::StackOfTasksSolver	(	const TwistControllerParams &	params,
		const LimiterParams &	limiter_params,
		TaskStackController_t &	task_stack_controller
	)

inline

Definition at line 35 of file stack_of_tasks_solver.h.

virtual StackOfTasksSolver::~StackOfTasksSolver ( )

inlinevirtual

Definition at line 45 of file stack_of_tasks_solver.h.

Member Function Documentation

void StackOfTasksSolver::processState	(	std::set< ConstraintBase_t >::iterator &	it,
		const Eigen::MatrixXd &	projector,
		const Eigen::MatrixXd &	particular_solution,
		double	inv_sum_of_prios,
		Eigen::VectorXd &	sum_of_gradient
	)

Process the state of the constraint and update the sum_of_gradient.

Definition at line 105 of file stack_of_tasks_solver.cpp.

Eigen::MatrixXd StackOfTasksSolver::solve	(	const Vector6d_t &	in_cart_velocities,
		const JointStates &	joint_states
	)

virtual

Specific implementation of solve-method to solve IK problem with constraints by using the GPM. See base class ConstraintSolver for more details on params and returns.

Implements ConstraintSolver<>.

Definition at line 23 of file stack_of_tasks_solver.cpp.

Member Data Documentation

EN_ConstraintStates StackOfTasksSolver::global_constraint_state_

protected

Definition at line 66 of file stack_of_tasks_solver.h.

double StackOfTasksSolver::in_cart_vel_damping_

protected

Definition at line 67 of file stack_of_tasks_solver.h.

ros::Time StackOfTasksSolver::last_time_

protected

Definition at line 65 of file stack_of_tasks_solver.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation