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: LagrangianOptimizer 1036 2004-02-11 20:48:55Z jungd $ 00019 $Revision: 1.1 $ 00020 $Date: 2004-02-11 15:48:55 -0500 (Wed, 11 Feb 2004) $ 00021 $Author: jungd $ 00022 00023 ****************************************************************************/ 00024 00025 #ifndef _ROBOT_CONTROL_KINEMATICS_LAGRANGIANOPTIMIZER_ 00026 #define _ROBOT_CONTROL_KINEMATICS_LAGRANGIANOPTIMIZER_ 00027 00028 #include <robot/control/kinematics/kinematics> 00029 00030 #include <robot/control/kinematics/Optimizer> 00031 00032 00033 namespace robot { 00034 namespace control { 00035 namespace kinematics { 00036 00037 00038 /// Abstract constrained optimizer that uses a Lagrangian solution technique 00039 class LagrangianOptimizer : public Optimizer 00040 { 00041 public: 00042 00043 /// set the gs (Matrix of column vectors that span the solution space) 00044 virtual void setGs(const Matrix& gs) = 0; 00045 00046 }; 00047 00048 00049 } // namespace kinematics 00050 } // namespace control 00051 } // namespace robot 00052 00053 #endif
1.3.6