svenzva_dynamics.cpp File Reference

#include <kdl_parser/kdl_parser.hpp>
#include <ros/ros.h>
#include <ros/package.h>
#include <stdlib.h>
#include <cmath>
#include <kdl/frames.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/chainidsolver_recursive_newton_euler.hpp>
#include <kdl/chainiksolvervel_pinv.hpp>
#include <sensor_msgs/JointState.h>

Include dependency graph for svenzva_dynamics.cpp:

Go to the source code of this file.

Functions
void	feel_efforts (ros::Publisher tau_pub)
void	js_cb (const sensor_msgs::JointState::ConstPtr &msg)
int	main (int argc, char **argv)

Variables
double	alpha = 0.5
KDL::Chain	chain
bool	first_run = true
KDL::ChainIdSolver_RNE *	gcSolver
KDL::JntArray	jnt_q (mNumJnts)
KDL::JntArray	jnt_qd (mNumJnts)
KDL::JntArray	jnt_qdd (mNumJnts)
KDL::JntArray	jnt_taugc (mNumJnts)
sensor_msgs::JointState	joint_states
unsigned int	mNumJnts = 6
sensor_msgs::JointState	model_states
KDL::Tree	my_tree

Function Documentation

void feel_efforts

(

ros::Publisher

tau_pub

)

Definition at line 82 of file svenzva_dynamics.cpp.

void js_cb

(

const sensor_msgs::JointState::ConstPtr &

msg

)

Definition at line 71 of file svenzva_dynamics.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 137 of file svenzva_dynamics.cpp.

Variable Documentation

double alpha = 0.5

Definition at line 69 of file svenzva_dynamics.cpp.

KDL::Chain chain

Definition at line 58 of file svenzva_dynamics.cpp.

bool first_run = true

Definition at line 66 of file svenzva_dynamics.cpp.

KDL::ChainIdSolver_RNE* gcSolver

Definition at line 67 of file svenzva_dynamics.cpp.

KDL::JntArray jnt_q(mNumJnts)

KDL::JntArray jnt_qd(mNumJnts)

KDL::JntArray jnt_qdd(mNumJnts)

KDL::JntArray jnt_taugc(mNumJnts)

sensor_msgs::JointState joint_states

Definition at line 56 of file svenzva_dynamics.cpp.

unsigned int mNumJnts = 6

Definition at line 59 of file svenzva_dynamics.cpp.

sensor_msgs::JointState model_states

Definition at line 65 of file svenzva_dynamics.cpp.

KDL::Tree my_tree

Definition at line 57 of file svenzva_dynamics.cpp.