11 int main(
int argc ,
char** argv){
32 std::cout <<
"give q(" << i+1 <<
")\n" << std::endl;
34 std::cout <<
"give qdot(" << i+1 <<
")\n" << std::endl;
36 std::cout <<
"give qdotdot(" << i <<
")\n" << std::endl;
37 std::cin >> qdotdot(i);
62 std::cout<<T<<std::endl;
63 std::cout<<
"tau: "<<tau<<std::endl;
virtual int JntToCart(const JntArray &q_in, Frame &p_out, int segmentNr=-1)
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
unsigned int getNrOfSegments() const
This class represents an fixed size array containing joint values of 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)
unsigned int getNrOfJoints() const
std::vector< Wrench > Wrenches
represents a frame transformation in 3D space (rotation + translation)
int main(int argc, char **argv)