Class InverseDynamicsSolverUR10

Defined in File ur10_inverse_dynamics_solver.hpp

Inheritance Relationships

Base Type

public inverse_dynamics_solver::InverseDynamicsSolver

Class Documentation

class InverseDynamicsSolverUR10 : public inverse_dynamics_solver::InverseDynamicsSolver

Public Functions

inline InverseDynamicsSolverUR10()

void initialize(rclcpp::node_interfaces::NodeParametersInterface::ConstSharedPtr = nullptr, const std::string& = "", const std::string& = "") override

Refer to the superclass documentation.

No parameter is required for this class. This method shall be called without passing any argument.

Eigen::MatrixXd getInertiaMatrix(const Eigen::VectorXd &joint_positions) const override: Refer to the superclass documentation.

Eigen::VectorXd getCoriolisVector(const Eigen::VectorXd &joint_positions, const Eigen::VectorXd &joint_velocities) const override: Refer to the superclass documentation.

Eigen::VectorXd getGravityVector(const Eigen::VectorXd &joint_positions) const override: Refer to the superclass documentation.

Eigen::VectorXd getFrictionVector(const Eigen::VectorXd &joint_velocities) const override: Refer to the superclass documentation.

Eigen::VectorXd getTorques(const Eigen::VectorXd &joint_positions, const Eigen::VectorXd &joint_velocities, const Eigen::VectorXd &joint_accelerations) const override: Refer to the superclass documentation.