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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
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orocos_kdl
Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Fri Mar 1 16:19:47 2013