22 #ifndef KDLCHAINDYNPARAM_HPP 23 #define KDLCHAINDYNPARAM_HPP 28 #include <Eigen/StdVector> 74 std::vector<ArticulatedBodyInertia, Eigen::aligned_allocator<ArticulatedBodyInertia> >
Ic;
std::vector< ArticulatedBodyInertia, Eigen::aligned_allocator< ArticulatedBodyInertia > > Ic
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
This class represents an fixed size array containing joint values of a KDL::Chain.
std::vector< Wrench > wrenchnull
represents both translational and rotational velocities.
A concrete implementation of a 3 dimensional vector class.
ChainDynParam(const Chain &chain, Vector _grav)
Recursive newton euler inverse dynamics solver.
virtual int JntToCoriolis(const JntArray &q, const JntArray &q_dot, JntArray &coriolis)
ChainIdSolver_RNE chainidsolver_gravity
virtual void updateInternalDataStructures()
represents both translational and rotational acceleration.
virtual int JntToMass(const JntArray &q, JntSpaceInertiaMatrix &H)
ChainIdSolver_RNE chainidsolver_coriolis
virtual int JntToGravity(const JntArray &q, JntArray &gravity)