GHCJTController.h File Reference

Define the Generalized Hierarchical Controller based on Jacobian transpose (GHCJT) in quasi-static case. More...

#include <string>
#include <vector>
#include <iostream>
#include "ocra/control/Controller.h"
#include "ocra/control/Model.h"
#include "ocra/optim/OneLevelSolver.h"
#include "gocra/Tasks/GHCJTTask.h"

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Classes
class	gocra::GHCJTController
	gOcra Controller based on LQP solver for the ocra framework. More...

Namespaces
	gocra

Detailed Description

Define the Generalized Hierarchical Controller based on Jacobian transpose (GHCJT) in quasi-static case.

Author

Mingxing Liu

The GHCJT controller is based on the generalized projector explained in the paper available here: http://link.springer.com/article/10.1007/s10514-015-9436-1 .

Definition in file GHCJTController.h.