22 #ifndef KDL_TREE_IDSOLVER_RECURSIVE_NEWTON_EULER_HPP 23 #define KDL_TREE_IDSOLVER_RECURSIVE_NEWTON_EULER_HPP 75 std::map<std::string,Frame>
X;
76 std::map<std::string,Twist>
S;
77 std::map<std::string,Twist>
v;
78 std::map<std::string,Twist>
a;
79 std::map<std::string,Wrench>
f;
std::map< std::string, Twist > S
int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap &f_ext, JntArray &torques)
std::map< std::string, Frame > X
This class represents an fixed size array containing joint values of a KDL::Chain.
std::map< std::string, Twist > a
std::map< std::string, Wrench > WrenchMap
represents both translational and rotational velocities.
A concrete implementation of a 3 dimensional vector class.
std::map< std::string, Twist > v
TreeIdSolver_RNE(const Tree &tree, Vector grav)
void initAuxVariables()
Helper function to initialize private members X, S, v, a, f.
void rne_step(SegmentMap::const_iterator segment, const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap &f_ext, JntArray &torques)
One recursion step.
virtual void updateInternalDataStructures()
std::map< std::string, Wrench > f
This class encapsulates a tree kinematic interconnection structure. It is built out of segments...
Recursive newton euler inverse dynamics solver for kinematic trees.
This abstract class encapsulates the inverse dynamics solver for a KDL::Tree.