robot::control::kinematics::MPPseudoInvSolver Class Reference

Solves a system Ax=b using the Moore-Penrose pseudo-inverse. More...

Inheritance diagram for robot::control::kinematics::MPPseudoInvSolver:

[legend]Collaboration diagram for robot::control::kinematics::MPPseudoInvSolver:

[legend]List of all members.

Public Member Functions
	MPPseudoInvSolver ()
virtual String	className () const
virtual Object &	clone () const
virtual Vector	solve (const Matrix &A, const Vector &b)
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual bool	isSameKindAs (const Object &) const
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
Protected Member Functions
	MPPseudoInvSolver (const MPPseudoInvSolver &c)
Protected Attributes
int	_refCount
bool	onUnreferenceEnabled

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Detailed Description

Solves a system Ax=b using the Moore-Penrose pseudo-inverse.

(see IKOR v2.0 function CALC_PSEUDO)

Definition at line 40 of file MPPseudoInvSolver.

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Constructor & Destructor Documentation

robot::control::kinematics::MPPseudoInvSolver::MPPseudoInvSolver (   )  [inline]

Definition at line 44 of file MPPseudoInvSolver. Referenced by clone().

robot::control::kinematics::MPPseudoInvSolver::MPPseudoInvSolver (  const MPPseudoInvSolver &  c  )  [inline, protected]

Definition at line 52 of file MPPseudoInvSolver.

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Member Function Documentation

virtual String robot::control::kinematics::MPPseudoInvSolver::className (   )  const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes. Implements base::Object. Definition at line 46 of file MPPseudoInvSolver.

virtual Object& robot::control::kinematics::MPPseudoInvSolver::clone (   )  const [inline, virtual]

Definition at line 47 of file MPPseudoInvSolver. References MPPseudoInvSolver(), and NewObj.

void base::Referenced::enableOnUnreferenceCall (  bool  enabled  )  [inline, inherited]

If enabled, each call to unreference() will also call virtual method onUnreference() Definition at line 115 of file Referenced. References base::Referenced::onUnreferenceEnabled.

virtual bool base::Object::isSameKindAs (  const Object &   )  const [inline, virtual, inherited]

Definition at line 47 of file Object.

virtual bool base::ReferencedObject::isSameKindAs (  const ReferencedObject &   )  const [inline, virtual, inherited]

Definition at line 52 of file ReferencedObject.

virtual void base::Referenced::onUnreference (   )  const [inline, virtual, inherited]

Called by unreference() if enabled via enableOnUnreferenceCall(true). Typically overridden in subclasses that wish to know about unreference() calls - for example to handle manually breaking cyclic references Reimplemented in robot::control::ControllableAdaptor::AdaptorControlInterface, and robot::control::ControllableAdaptor. Definition at line 121 of file Referenced. Referenced by base::Referenced::unreference().

void base::Referenced::reference (   )  const [inline, inherited]

Increment the reference count by one, indicating that this object has another pointer which is referencing it. Definition at line 65 of file Referenced. References base::Referenced::_refCount.

const int base::Referenced::referenceCount (   )  const [inline, inherited]

Return the number pointers currently referencing this object. Definition at line 112 of file Referenced. References base::Referenced::_refCount. Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::onUnreference().

virtual Vector robot::control::kinematics::MPPseudoInvSolver::solve (  const Matrix &  A, const Vector &  b )  [virtual]

bool base::Referenced::unreference (   )  const [inline, inherited]

Decrement the reference count by one, indicating that a pointer to this object is referencing it. If the refence count goes to zero, it is assumed that this object is nolonger referenced and is automatically deleted. Definition at line 81 of file Referenced. References base::Referenced::_refCount, Exception, base::Referenced::onUnreference(), and base::Referenced::onUnreferenceEnabled.

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Member Data Documentation

int base::Referenced::_refCount [mutable, protected, inherited]

Definition at line 136 of file Referenced. Referenced by base::Referenced::reference(), base::Referenced::referenceCount(), base::Referenced::Referenced(), base::Referenced::unreference(), and base::Referenced::~Referenced().

bool base::Referenced::onUnreferenceEnabled [protected, inherited]

Definition at line 137 of file Referenced. Referenced by base::Referenced::enableOnUnreferenceCall(), base::Referenced::Referenced(), and base::Referenced::unreference().

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

• robot/control/kinematics/MPPseudoInvSolver

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