KDL::TreeIdSolver Class Reference

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

#include <treeidsolver.hpp>

Inheritance diagram for KDL::TreeIdSolver:

List of all members.

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

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Detailed Description

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

Definition at line 40 of file treeidsolver.hpp.

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Member Function Documentation

virtual int KDL::TreeIdSolver::CartToJnt	(	const JntArray &	q,
		const JntArray &	q_dot,
		const JntArray &	q_dotdot,
		const WrenchMap &	f_ext,
		JntArray &	torques
	)		[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.

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

• treeidsolver.hpp