robot::control::kinematics::SVDFullSpaceSolver Class Reference

Inheritance diagram for robot::control::kinematics::SVDFullSpaceSolver:

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

[legend]List of all members.

Public Member Functions
	SVDFullSpaceSolver ()
virtual String	className () const
virtual Object &	clone () const
virtual Matrix	solve (const Matrix &A_in, const Vector &b_in, array< Int > &dependentRowsEliminated)
	Computes a set of vectors gi that can be used to find solutions to Ax=b for x.
void	setStopOnIllCondition (bool stopOnIllCondition)
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
	SVDFullSpaceSolver (const SVDFullSpaceSolver &fsp)
Static Protected Member Functions
bool	isSmall (Real a)
Protected Attributes
bool	stopOnIllCondition
	if true, if A is ill-conditioned (SVD gives large condition number), an exception is thrown
int	_refCount
bool	onUnreferenceEnabled

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Detailed Description

Solver that finds the set of vectors gi, such that dq = sum ti.gi s.t. sum tk=1 is a solution to Jdq=dx, and dq = sum ti.gi s.t. sum tk=0 is a solution to Jdq=0 (null-space) using Singular Value Decomposition (SVD)

Definition at line 42 of file SVDFullSpaceSolver.

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Constructor & Destructor Documentation

robot::control::kinematics::SVDFullSpaceSolver::SVDFullSpaceSolver (   )

Referenced by clone().

robot::control::kinematics::SVDFullSpaceSolver::SVDFullSpaceSolver (  const SVDFullSpaceSolver &  fsp  )  [inline, protected]

Definition at line 72 of file SVDFullSpaceSolver.

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Member Function Documentation

virtual String robot::control::kinematics::SVDFullSpaceSolver::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 47 of file SVDFullSpaceSolver.

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

Definition at line 48 of file SVDFullSpaceSolver. References NewObj, and SVDFullSpaceSolver().

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.

bool robot::control::kinematics::SVDFullSpaceSolver::isSmall (  Real  a  )  [inline, static, protected]

Definition at line 77 of file SVDFullSpaceSolver.

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().

void robot::control::kinematics::SVDFullSpaceSolver::setStopOnIllCondition (  bool  stopOnIllCondition  )  [inline]

if true, if A is ill-conditioned (SVD gives large condition number), an exception is thrown in solve() otherwise, all 0 singular values are considered infinite (the corresponding elements of Sinv are set to 0) and a solution is returned (which should have least-norm error from requested b) Definition at line 69 of file SVDFullSpaceSolver.

virtual Matrix robot::control::kinematics::SVDFullSpaceSolver::solve (  const Matrix &  A_in, const Vector &  b_in, array< Int > &  dependentRowsEliminated )  [virtual]

Computes a set of vectors gi that can be used to find solutions to Ax=b for x. Parameters: A_in  NxM Matrix b_in  N-dim Vector dependentRowsEliminated  is filled out with the indices of rows of A_in that are eliminated from the computation because they are dependent (actually if Ai|bi is dependent. If only Ai is dependent but bi conflicts an exception is throw because solution is impossible) Returns: returns the set of vector gis as columns of a Matrix Exceptions: std::invalid_argument  if gis can't be found for the provided A & b Implements robot::control::kinematics::FullSpaceSolver.

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().

bool robot::control::kinematics::SVDFullSpaceSolver::stopOnIllCondition [protected]

if true, if A is ill-conditioned (SVD gives large condition number), an exception is thrown Definition at line 75 of file SVDFullSpaceSolver.

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

• robot/control/kinematics/SVDFullSpaceSolver

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