22 #ifndef KDL_CHAIN_IKSOLVER_RECURSIVE_NEWTON_EULER_HPP 23 #define KDL_CHAIN_IKSOLVER_RECURSIVE_NEWTON_EULER_HPP 73 std::vector<Wrench>
f;
virtual void updateInternalDataStructures()
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
ChainIdSolver_RNE(const Chain &chain, Vector grav)
This class represents an fixed size array containing joint values of a KDL::Chain.
represents both translational and rotational velocities.
This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.
A concrete implementation of a 3 dimensional vector class.
Recursive newton euler inverse dynamics solver.
int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext, JntArray &torques)
std::vector< Wrench > Wrenches