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This abstract class encapsulates the inverse dynamics solver for a KDL::Chain. More...
#include <chainidsolver.hpp>
Public Member Functions | |
virtual int | CartToJnt (const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext, JntArray &torques)=0 |
This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.
Definition at line 39 of file chainidsolver.hpp.
virtual int KDL::ChainIdSolver::CartToJnt | ( | const JntArray & | q, | |
const JntArray & | q_dot, | |||
const JntArray & | q_dotdot, | |||
const Wrenches & | f_ext, | |||
JntArray & | torques | |||
) | [pure virtual] |
Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces to joint torques/forces.
q | input joint positions | |
q_dot | input joint velocities | |
q_dotdot | input joint accelerations | |
torque | output joint torques |
Implemented in KDL::ChainIdSolver_RNE.