Program Listing for File getCurrents.hpp
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/* -------------------------------------------------------------------
*
* This module has been developed by the Automatic Control Group
* of the University of Salerno, Italy.
*
* Title: getCurrents.hpp
* Author: Antonio Annunziata, Vincenzo Petrone
* Org.: UNISA
* Date: Jul 14, 2023
*
* This is a function returning the joint currents according to the
* UR10's dynamic model, given the joint positions, velocities and
* accelerations. The function is automatically generated by MATLAB
* (see details below) based on the UR10's dynamic model's regressive
* form.
* Note: the dynamic model considered by this function only takes into
* account linear contributions, hence friction effects are discarded.
*
* -------------------------------------------------------------------
*/
//
// Academic License - for use in teaching, academic research, and meeting
// course requirements at degree granting institutions only. Not for
// government, commercial, or other organizational use.
// File: getCurrents.h
//
// MATLAB Coder version : 5.6
// C/C++ source code generated on : 14-Jul-2023 17:08:21
//
#pragma once
// Include Files
// #include "rtwtypes.h"
#include <cstddef>
#include <cstdlib>
// Function Declarations
namespace ur10_inverse_dynamics_solver
{
extern void getCurrents(const double joint_positions[6], const double joint_velocities[6], const double joint_accelerations[6], double currents[6]);
}
//
// File trailer for getCurrents.h
//
// [EOF]
//