chainidsolver_vereshchagin.hpp File Reference

#include "chainidsolver.hpp"
#include "frames.hpp"
#include "articulatedbodyinertia.hpp"

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Classes
class	KDL::ChainIdSolver_Vereshchagin
struct	KDL::ChainIdSolver_Vereshchagin::segment_info
Namespaces
namespace	KDL
Typedefs
typedef std::vector< Frame >	KDL::Frames
typedef Eigen::Matrix< double, 6, 6 >	KDL::Matrix6d
typedef Eigen::Matrix< double, 6, Eigen::Dynamic >	KDL::Matrix6Xd
typedef std::vector< Twist >	KDL::Twists
	Dynamics calculations by constraints based on Vereshchagin 1989. for a chain. This class creates instance of hybrid dynamics solver. The solver calculates total joint space accelerations in a chain when a constraint force(s) is applied to the chain's end-effector (task space/cartesian space).
typedef Eigen::Matrix< double, 6, 1 >	KDL::Vector6d

Classes