This abstract class encapsulates the inverse dynamics solver for a KDL::Tree. More...

Inheritance diagram for KDL::TreeIdSolver:

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...

Detailed Description

This abstract class encapsulates the inverse dynamics solver for a KDL::Tree.

Definition at line 40 of file treeidsolver.hpp.

Member Function Documentation

virtual int KDL::TreeIdSolver::CartToJnt	(	const JntArray &	q,
		const JntArray &	q_dot,
		const JntArray &	q_dotdot,
		const WrenchMap &	f_ext,
		JntArray &	torques
	)

pure virtual

Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces to joint torques/forces.

Parameters

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

The documentation for this class was generated from the following file: