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Mod/Robot: fix spacing and add a couple of FIXME's

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It's to be considered to delete the class ChainIkSolverVel_pinv_nso:
it seems it's not used anythere and unmantained/unfinished for many years.
This commit is contained in:
Alexander Golubev 2015-05-17 20:18:47 +03:00 committed by wmayer
parent 4326c9657e
commit efb08237ac
1 changed files with 32 additions and 26 deletions
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6
src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_nso.hpp
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@ -28,6 +28,10 @@
namespace KDL namespace KDL
{ {
// FIXME: seems this class is unused/unmaintained/unfinished for several years
// it supposed to be either fixer or removed
/** /**
* Implementation of a inverse velocity kinematics algorithm based * Implementation of a inverse velocity kinematics algorithm based
* on the generalize pseudo inverse to calculate the velocity * on the generalize pseudo inverse to calculate the velocity
@ -60,6 +64,8 @@ namespace KDL
* @param alpha the null-space velocity gain * @param alpha the null-space velocity gain
* *
*/ */
// FIXME: alpha is int but is initialized with a float value.
ChainIkSolverVel_pinv_nso(const Chain& chain, JntArray opt_pos, JntArray weights, double eps=0.00001,int maxiter=150, int alpha = 0.25); ChainIkSolverVel_pinv_nso(const Chain& chain, JntArray opt_pos, JntArray weights, double eps=0.00001,int maxiter=150, int alpha = 0.25);
ChainIkSolverVel_pinv_nso(const Chain& chain, double eps=0.00001,int maxiter=150, int alpha = 0.25); ChainIkSolverVel_pinv_nso(const Chain& chain, double eps=0.00001,int maxiter=150, int alpha = 0.25);
~ChainIkSolverVel_pinv_nso(); ~ChainIkSolverVel_pinv_nso();