00001 // Copyright (C) 2009 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00002 00003 // Version: 1.0 00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00006 // URL: http://www.orocos.org/kdl 00007 00008 // This library is free software; you can redistribute it and/or 00009 // modify it under the terms of the GNU Lesser General Public 00010 // License as published by the Free Software Foundation; either 00011 // version 2.1 of the License, or (at your option) any later version. 00012 00013 // This library is distributed in the hope that it will be useful, 00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00016 // Lesser General Public License for more details. 00017 00018 // You should have received a copy of the GNU Lesser General Public 00019 // License along with this library; if not, write to the Free Software 00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA 00021 00022 #ifndef KDL_CHAIN_IKSOLVER_RECURSIVE_NEWTON_EULER_HPP 00023 #define KDL_CHAIN_IKSOLVER_RECURSIVE_NEWTON_EULER_HPP 00024 00025 #include "chainidsolver.hpp" 00026 00027 namespace KDL{ 00040 class ChainIdSolver_RNE : public ChainIdSolver{ 00041 public: 00047 ChainIdSolver_RNE(const Chain& chain,Vector grav); 00048 ~ChainIdSolver_RNE(){}; 00049 00060 int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches& f_ext,JntArray &torques); 00061 00062 private: 00063 Chain chain; 00064 unsigned int nj; 00065 unsigned int ns; 00066 std::vector<Frame> X; 00067 std::vector<Twist> S; 00068 std::vector<Twist> v; 00069 std::vector<Twist> a; 00070 std::vector<Wrench> f; 00071 Twist ag; 00072 }; 00073 } 00074 00075 #endif