---

PCGeneralizedVelocityMinimization.h

Go to the documentation of this file.

//      Title       :  PCGeneralizedVelocityMinimization.h  (GVL)
//      Project     :  OSCAR Version 2.0
//      Created     :  01/22/03
//      Author      :  Mark Tisius and Chetan Kapoor
//      Platforms   :  All
//      Copyright   :  The University of Texas at Austin, 2003. All rights reserved.
//                 
//                 This software and documentation constitute an unpublished work
//                 and contain valuable trade secrets and proprietary information
//                 belonging to University.  None of the foregoing material may be
//                 copied  or duplicated or disclosed without the express, written
//                 permission of University.  UNIVERSITY EXPRESSLY DISCLAIMS ANY
//                 AND ALL WARRANTIES CONCERNING THIS SOFTWARE AND DOCUMENTATION,
//                 INCLUDING ANY WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
//                 PARTICULAR PURPOSE, AND WARRANTIES OF PERFORMANCE, AND ANY WARRANTY
//                 THAT MIGHT OTHERWISE ARISE FROM COURSE OF DEALING OR USAGE OF TRADE.
//                 NO WARRANTY IS EITHER EXPRESS OR IMPLIED WITH RESPECT TO THE USE OF
//                 THE SOFTWARE OR DOCUMENTATION.  Under no circumstances shall
//                 University be liable for incidental, special, indirect, direct or
//                 consequential damages or loss of profits, interruption of business,
//                 or related expenses which may arise from use of software or documentation,
//                 including but not limited to those resulting from defects in software
//                 and/or documentation, or loss or inaccuracy of data of any kind.
//
//      Purpose     :  This file contains the declaration of the class PCGeneralizedVelocityMinimization
//-----------------------------------------------------------------------------
//      Classes     :  None
//                
//      Global         
//      Functions   :  None
//      Global        
//      Variables   :  None
//-----------------------------------------------------------------------------
//      $Revisions$  
//      $Log: PCGeneralizedVelocityMinimization.h,v $
//      Revision 1.6  2005/03/14 22:10:21  pmarch
//      Added to namespace OSCAR and removed "RR" from front of class names.
//      
//      Revision 1.5  2004/07/26 23:05:39  chetan
//      Made changes to compile with Warning Level 4 and also under the latest C++ standard. Also made compilable with VC extensions turned off
//      
//      Revision 1.4  2004/05/28 21:06:11  eswint
//      - Changed \ingroup Performance Criteria to \ingroup PerformanceCriteria
//      
//      Revision 1.3  2004/05/28 19:06:35  eswint
//      - Added the \ingroup PerformanceCriteria for Doxygen commenting
//      
//      Revision 1.2  2003/09/08 22:28:20  mtisius
//      Making sure everything committed properly
//      
//      Revision 1.1  2003/08/27 17:54:19  ndesai
//      PerformanceCriteria files being added to CVS
//      
//      Revision 1.1  2003/08/14 21:03:07  mtisius
//      Added files to Module
//                              
//                                      
#ifndef PCGeneralizedVelocityMinimization_h
#define PCGeneralizedVelocityMinimization_h

#include "PCJacobianPseudoInverse.h"

namespace OSCAR {

  class PCGeneralizedVelocityMinimization : public PCJacobianPseudoInverse
  {
  public:

      PCGeneralizedVelocityMinimization(FKJacobian* fkJacobian,
                                                                              MinOrMax minOrMax = Minimize,
                                                                                                double criticalLimit = -1,
                                                                                                double weight = 1.0,
                                                                                                double exponent = 1.0, 
                                                                                                const String& criteriaName = String("GVM"));

      PCGeneralizedVelocityMinimization(const PCGeneralizedVelocityMinimization& crit);

      PCGeneralizedVelocityMinimization& operator=(const PCGeneralizedVelocityMinimization& crit);

      virtual ~PCGeneralizedVelocityMinimization();


  protected:

    virtual bool computeCriteria(RepositoryList& repoList); 

  };

  //#include "GeneralizedVelocityMinimization.ipp"
}
#endif /* GeneralizedVelocityMinimization_h */

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