treeidsolver_recursive_newton_euler.hpp
Go to the documentation of this file.
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 #pragma once
00023 
00024 #include "treeidsolver.hpp"
00025 
00026 namespace KDL{
00039     class TreeIdSolver_RNE : public TreeIdSolver{
00040     public:
00046         TreeIdSolver_RNE(const Tree& tree,Vector grav);
00047         ~TreeIdSolver_RNE(){};
00048         
00059         int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches& f_ext,JntArray &torques);
00060         int CartToJnt(const std::vector<double> &q, const std::vector<double> &q_dot, const std::vector<double> &q_dotdot, const Wrenches& f_ext,JntArray &torques);
00061 
00062 
00063     private:
00064                 struct Entry{
00065                         Frame X;
00066                         Twist S;
00067                         Twist v;
00068                         Twist a;
00069                         Wrench f;
00070                         Wrench f_ext;
00071                 };
00072                 struct JntEntry{
00073                         int idx;
00074                         double torque;
00075                 };
00076                         
00077     
00078     
00079     
00080         Tree tree;
00081         std::string root_name;
00082         //std::map<std::string, Frame> X;
00083         //std::map<std::string, Twist> S;
00084         //std::map<std::string, Twist> v;
00085         //std::map<std::string, Twist> a;
00086         //std::map<std::string, Wrench> f;
00087         //std::map<std::string, Wrench> f_ext_map;
00088         //much faster not to have to look up each individual element
00089         //better to group the variables together and only have one lookup
00090         //before was nearly 25% to look up each individually
00091         std::map<std::string, Entry> db;        
00092         std::map<std::string, JntEntry> jntdb;
00093         
00094         //std::map<std::string, double> torque_map; /// takes in joint names
00095         //std::map<std::string, int> name2idx;
00096         Twist ag;
00097     };
00098 }


r2_controllers_gazebo
Author(s): Stephen Hart
autogenerated on Mon Oct 6 2014 02:48:44