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robot/control/kinematics/FullSpaceSolver

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00001 /* **-*-c++-*-**************************************************************
00002   Copyright (C)2002 David Jung <opensim@pobox.com>
00003 
00004   This program/file is free software; you can redistribute it and/or modify
00005   it under the terms of the GNU General Public License as published by
00006   the Free Software Foundation; either version 2 of the License, or
00007   (at your option) any later version.
00008 
00009   This program is distributed in the hope that it will be useful,
00010   but WITHOUT ANY WARRANTY; without even the implied warranty of
00011   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00012   GNU General Public License for more details. (http://www.gnu.org)
00013 
00014   You should have received a copy of the GNU General Public License
00015   along with this program; if not, write to the Free Software
00016   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00017 
00018   $Id: IKORFullSpaceSolver 1068 2004-07-28 19:06:06Z jungd $
00019   $Revision: 1.8 $
00020   $Date: 2004-07-28 15:06:06 -0400 (Wed, 28 Jul 2004) $
00021   $Author: jungd $
00022 
00023 ****************************************************************************/
00024 
00025 #ifndef _ROBOT_CONTROL_KINEMATICS_FULLSPACESOLVER_
00026 #define _ROBOT_CONTROL_KINEMATICS_FULLSPACESOLVER_
00027 
00028 #include <robot/control/kinematics/kinematics>
00029 
00030 #include <base/ReferencedObject>
00031 
00032 
00033 namespace robot {
00034 namespace control {
00035 namespace kinematics {
00036 
00037 
00038 
00039 /// Base class of Solvers that find the set of vectors gi, such that dq = sum ti.gi s.t. sum tk=1
00040 ///  is a solution to Jdq=dx, and dq = sum ti.gi s.t. sum tk=0 is a solution to
00041 ///  Jdq=0 (null-space)
00042 class FullSpaceSolver : public base::ReferencedObject
00043 {
00044 public:
00045 
00046   /// Computes a set of vectors gi that can be used to find solutions to Ax=b for x
00047   /**
00048    *   @param A_in                     NxM Matrix
00049    *   @param b_in                     N-dim Vector
00050    *   @param dependentRowsEliminated  is filled out with the indices of rows of A_in
00051    *                                   that are eliminated from the computation because they
00052    *                                   are dependent (actually if Ai|bi is dependent.  If only
00053    *                                   Ai is dependent but bi conflicts an exception is throw
00054    *                                   because solution is impossible)
00055    *                                   Can be 0-length is not-supported/used.
00056    *   @return      returns the set of vector gis as columns of a Matrix
00057    *   @exception   std::invalid_argument if gis can't be found for the provided A & b
00058    */
00059   virtual Matrix solve(const Matrix& A_in, const Vector& b_in,
00060                        array<Int>& dependentRowsEliminated) = 0;
00061 
00062 protected:
00063   FullSpaceSolver() {}
00064   FullSpaceSolver(const FullSpaceSolver& fsp) {}
00065 };
00066 
00067 
00068 } // namespace kinematics
00069 } // namespace control
00070 } // namespace robot
00071 
00072 #endif

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