robot/control/kinematics/MPPseudoInvSolver

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/* **-*-c++-*-**************************************************************
  Copyright (C)2002 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
  
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. (http://www.gnu.org)
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  $Id: MPPseudoInvSolver 1036 2004-02-11 20:48:55Z jungd $
  $Revision: 1.4 $
  $Date: 2004-02-11 15:48:55 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _ROBOT_CONTROL_KINEMATICS_MPPSEUDOINVSOLVER_
#define _ROBOT_CONTROL_KINEMATICS_MPPSEUDOINVSOLVER_

#include <robot/control/kinematics/kinematics>
#include <base/ReferencedObject>

namespace robot {
namespace control {
namespace kinematics {


/// Solves a system Ax=b using the Moore-Penrose pseudo-inverse.
/**
 * (see IKOR v2.0 function CALC_PSEUDO)
 */
class MPPseudoInvSolver : public base::ReferencedObject

{
public:
  MPPseudoInvSolver() {}

  virtual String className() const { return String("MPPseudoInvSolver"); }
  virtual Object& clone() const { return *NewObj MPPseudoInvSolver(*this); } 

  virtual Vector solve(const Matrix& A, const Vector& b);

protected:
  MPPseudoInvSolver(const MPPseudoInvSolver& c) {}
};


} // namespace kinematics
} // namespace control
} // namespace robot

#endif

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