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 40 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.