KDL::TreeIdSolver Class Reference

This **abstract** class encapsulates the inverse dynamics solver for a KDL::Tree.
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`#include <treeidsolver.hpp>`

Inheritance diagram for KDL::TreeIdSolver:

## Public Member Functions | |

virtual int | CartToJnt (const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap &f_ext, JntArray &torques)=0 |

This **abstract** class encapsulates the inverse dynamics solver for a KDL::Tree.

Definition at line 40 of file treeidsolver.hpp.

virtual int KDL::TreeIdSolver::CartToJnt | ( | const JntArray & | q, |

const JntArray & | q_dot, |
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const JntArray & | q_dotdot, |
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const WrenchMap & | f_ext, |
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JntArray & | torques |
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) | ` [pure virtual]` |

Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces to joint torques/forces.

**Parameters:**-
q input joint positions q_dot input joint velocities q_dotdot input joint accelerations f_ext the external forces (no gravity) on the segments torque output joint torques

**Returns:**- if < 0 something went wrong

Implemented in KDL::TreeIdSolver_RNE.

The documentation for this class was generated from the following file: