This abstract class encapsulates the inverse dynamics solver for a KDL::Tree. More...
#include <treeidsolver.hpp>
Public Member Functions | |
virtual int | CartToJnt (const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap &f_ext, JntArray &torques)=0 |
Public Member Functions inherited from KDL::SolverI | |
virtual int | getError () const |
Return the latest error. More... | |
SolverI () | |
Initialize latest error to E_NOERROR. More... | |
virtual const char * | strError (const int error) const |
virtual void | updateInternalDataStructures ()=0 |
virtual | ~SolverI () |
Additional Inherited Members | |
Public Types inherited from KDL::SolverI | |
enum | { E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2, E_NOT_UP_TO_DATE = -3, E_SIZE_MISMATCH = -4, E_MAX_ITERATIONS_EXCEEDED = -5, E_OUT_OF_RANGE = -6, E_NOT_IMPLEMENTED = -7, E_SVD_FAILED = -8 } |
Protected Attributes inherited from KDL::SolverI | |
int | error |
Latest error, initialized to E_NOERROR in constructor. More... | |
This abstract class encapsulates the inverse dynamics solver for a KDL::Tree.
Definition at line 40 of file treeidsolver.hpp.
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pure virtual |
Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces to joint torques/forces.
q | input joint positions |
q_dot | input joint velocities |
q_dotdot | input joint accelerations |
f_ext | the external forces (no gravity) on the segments |
torque | output joint torques |
Implemented in KDL::TreeIdSolver_RNE.