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src
chainidsolver.hpp
Go to the documentation of this file.
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// Copyright (C) 2009 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#ifndef KDL_CHAIN_IDSOLVER_HPP
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#define KDL_CHAIN_IDSOLVER_HPP
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#include "
chain.hpp
"
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#include "
frames.hpp
"
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#include "
jntarray.hpp
"
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#include "
solveri.hpp
"
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namespace
KDL
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{
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typedef
std::vector<Wrench>
Wrenches
;
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class
ChainIdSolver
:
public
KDL::SolverI
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{
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public
:
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virtual
int
CartToJnt
(
const
JntArray
&q,
const
JntArray
&q_dot,
const
JntArray
&q_dotdot,
const
Wrenches& f_ext,
JntArray
&torques)=0;
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// Need functions to return the manipulator mass, coriolis and gravity matrices - Lagrangian Formulation.
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};
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}
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#endif
KDL::JntArray
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition:
jntarray.hpp:69
KDL::SolverI
Definition:
solveri.hpp:84
chain.hpp
solveri.hpp
KDL::ChainIdSolver
This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.
Definition:
chainidsolver.hpp:40
KDL
Definition:
kukaLWR_DHnew.cpp:25
KDL::Wrenches
std::vector< Wrench > Wrenches
Definition:
chainfdsolver.hpp:34
jntarray.hpp
frames.hpp
KDL::ChainIdSolver::CartToJnt
virtual int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext, JntArray &torques)=0
orocos_kdl
Author(s):
autogenerated on Fri Mar 12 2021 03:05:43