Public Member Functions
	DynamicsUtilities ()
	Constructor for DynamicsUtilities.
bool	isBaseFrame (const std::vector< std::string > baseFrames, const std::string frame)
	Check to see if the frame matches the index in the baseFrames vector.
double	mag (const KDL::Vector &vec)
void	MultiplyJacobianTranspose (const KDL::Jacobian &jac, const KDL::Wrench &src, KDL::JntArray &dest)
	Multiply wrench by Jacobian transpose matrix.
int	MultiplyJacobianTransposeInverse (const KDL::Jacobian &jac, const KDL::JntArray &src, KDL::Wrench &dest)
	Multiply wrench by Jacobian transpose inverse matrix.
KDL::Wrench	SumWrenches (const std::vector< KDL::Wrench > &f_center)
	Sum Wrenches.
	~DynamicsUtilities ()

Detailed Description

Definition at line 11 of file DynamicsUtilities.h.

Constructor & Destructor Documentation

DynamicsUtilities::DynamicsUtilities ( )

Definition at line 10 of file DynamicsUtilities.cpp.

DynamicsUtilities::~DynamicsUtilities ( )

Definition at line 14 of file DynamicsUtilities.cpp.

bool DynamicsUtilities::isBaseFrame	(	const std::vector< std::string >	baseFrames,
		const std::string	frame
	)

Check to see if the frame matches the index in the baseFrames vector.

Parameters:

baseFrames
frame

Definition at line 25 of file DynamicsUtilities.cpp.

double DynamicsUtilities::mag ( const KDL::Vector & vec )

Definition at line 153 of file DynamicsUtilities.cpp.

void DynamicsUtilities::MultiplyJacobianTranspose	(	const KDL::Jacobian &	jac,
		const KDL::Wrench &	src,
		KDL::JntArray &	dest
	)

Multiply wrench by Jacobian transpose matrix.

Parameters:

Definition at line 45 of file DynamicsUtilities.cpp.

int DynamicsUtilities::MultiplyJacobianTransposeInverse	(	const KDL::Jacobian &	jac,
		const KDL::JntArray &	src,
		KDL::Wrench &	dest
	)

Multiply wrench by Jacobian transpose inverse matrix.

Parameters:

Definition at line 76 of file DynamicsUtilities.cpp.

KDL::Wrench DynamicsUtilities::SumWrenches ( const std::vector< KDL::Wrench > & forceCenter )

Sum Wrenches.

Parameters:

forceCenter Input wrench values

Definition at line 171 of file DynamicsUtilities.cpp.

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