DynamicsUtilities.h
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00001 #ifndef DYNAMICS_UTILITIES_H
00002 #define DYNAMICS_UTILITIES_H
00003 
00004 #include <vector>
00005 
00006 #include <kdl/jacobian.hpp>
00007 #include <kdl/frames.hpp>
00008 #include <kdl/jntarray.hpp>
00009 #include <kdl/utilities/svd_eigen_HH.hpp>
00010 
00011 class DynamicsUtilities
00012 {
00013 public:
00014     DynamicsUtilities();
00015     ~DynamicsUtilities();
00016 
00017     KDL::Wrench SumWrenches(const std::vector<KDL::Wrench>& f_center);
00018 
00019     bool isBaseFrame(const std::vector<std::string> baseFrames, const std::string frame);
00020 
00021     void MultiplyJacobianTranspose(const KDL::Jacobian& jac, const KDL::Wrench& src, KDL::JntArray& dest);
00022     
00023     int MultiplyJacobianTransposeInverse(const KDL::Jacobian& jac, const KDL::JntArray& src, KDL::Wrench& dest);
00024 
00025     double mag(const KDL::Vector& vec);
00026 
00027 };
00028 
00029 #endif


robodyn_controllers
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autogenerated on Sat Jun 8 2019 20:20:53