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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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56
src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_nso.hpp
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@ -28,6 +28,10 @@
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
* on the generalize pseudo inverse to calculate the velocity
@ -60,8 +64,10 @@ namespace KDL
* @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, 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();
virtual int CartToJnt(const JntArray& q_in, const Twist& v_in, JntArray& qdot_out);
@ -72,29 +78,29 @@ namespace KDL
virtual int CartToJnt(const JntArray& q_init, const FrameVel& v_in, JntArrayVel& q_out){return -1;};
/**
*Set joint weights for optimization criterion
*
*@param weights the joint weights
*
*/
virtual int setWeights(const JntArray &weights);
/**
*Set joint weights for optimization criterion
*
*@param weights the joint weights
*
*/
virtual int setWeights(const JntArray &weights);
/**
*Set optimal joint positions
*
*@param opt_pos optimal joint positions
*
*/
virtual int setOptPos(const JntArray &opt_pos);
/**
*Set optimal joint positions
*
*@param opt_pos optimal joint positions
*
*/
virtual int setOptPos(const JntArray &opt_pos);
/**
*Set null psace velocity gain
*
*@param alpha NUllspace velocity cgain
*
*/
virtual int setAlpha(const int alpha);
/**
*Set null psace velocity gain
*
*@param alpha NUllspace velocity cgain
*
*/
virtual int setAlpha(const int alpha);
private:
const Chain chain;
@ -109,9 +115,9 @@ namespace KDL
double eps;
int maxiter;
int alpha;
JntArray weights;
JntArray opt_pos;
int alpha;
JntArray weights;
JntArray opt_pos;
};
}