KDL::ChainIdSolver_Vereshchagin::segment_info Struct Reference

Public Member Functions
	segment_info (unsigned int nc)

Public Attributes
Twist	A
Twist	acc
double	biasAccComp
Twist	C
double	constAccComp
double	D
Matrix6Xd	E
Matrix6Xd	E_tilde
Eigen::VectorXd	EZ
Frame	F
Frame	F_base
Eigen::VectorXd	G
ArticulatedBodyInertia	H
Eigen::MatrixXd	M
double	nullspaceAccComp
ArticulatedBodyInertia	P
ArticulatedBodyInertia	P_tilde
Wrench	PC
Wrench	PZ
Wrench	R
Wrench	R_tilde
double	totalBias
Wrench	U
double	u
Twist	v
Twist	Z

Detailed Description

Definition at line 143 of file chainidsolver_vereshchagin.hpp.

Constructor & Destructor Documentation

KDL::ChainIdSolver_Vereshchagin::segment_info::segment_info ( unsigned int  nc )

inline

Definition at line 172 of file chainidsolver_vereshchagin.hpp.

Member Data Documentation

Twist KDL::ChainIdSolver_Vereshchagin::segment_info::A

Definition at line 154 of file chainidsolver_vereshchagin.hpp.

Twist KDL::ChainIdSolver_Vereshchagin::segment_info::acc

Definition at line 149 of file chainidsolver_vereshchagin.hpp.

double KDL::ChainIdSolver_Vereshchagin::segment_info::biasAccComp

Definition at line 168 of file chainidsolver_vereshchagin.hpp.

Twist KDL::ChainIdSolver_Vereshchagin::segment_info::C

Definition at line 153 of file chainidsolver_vereshchagin.hpp.

double KDL::ChainIdSolver_Vereshchagin::segment_info::constAccComp

Definition at line 167 of file chainidsolver_vereshchagin.hpp.

double KDL::ChainIdSolver_Vereshchagin::segment_info::D

Definition at line 160 of file chainidsolver_vereshchagin.hpp.

Matrix6Xd KDL::ChainIdSolver_Vereshchagin::segment_info::E

Definition at line 161 of file chainidsolver_vereshchagin.hpp.

Matrix6Xd KDL::ChainIdSolver_Vereshchagin::segment_info::E_tilde

Definition at line 162 of file chainidsolver_vereshchagin.hpp.

Eigen::VectorXd KDL::ChainIdSolver_Vereshchagin::segment_info::EZ

Definition at line 165 of file chainidsolver_vereshchagin.hpp.

Frame KDL::ChainIdSolver_Vereshchagin::segment_info::F

Definition at line 145 of file chainidsolver_vereshchagin.hpp.

Frame KDL::ChainIdSolver_Vereshchagin::segment_info::F_base

Definition at line 146 of file chainidsolver_vereshchagin.hpp.

Eigen::VectorXd KDL::ChainIdSolver_Vereshchagin::segment_info::G

Definition at line 164 of file chainidsolver_vereshchagin.hpp.

ArticulatedBodyInertia KDL::ChainIdSolver_Vereshchagin::segment_info::H

Definition at line 155 of file chainidsolver_vereshchagin.hpp.

Eigen::MatrixXd KDL::ChainIdSolver_Vereshchagin::segment_info::M

Definition at line 163 of file chainidsolver_vereshchagin.hpp.

double KDL::ChainIdSolver_Vereshchagin::segment_info::nullspaceAccComp

Definition at line 166 of file chainidsolver_vereshchagin.hpp.

ArticulatedBodyInertia KDL::ChainIdSolver_Vereshchagin::segment_info::P

Definition at line 156 of file chainidsolver_vereshchagin.hpp.

ArticulatedBodyInertia KDL::ChainIdSolver_Vereshchagin::segment_info::P_tilde

Definition at line 157 of file chainidsolver_vereshchagin.hpp.

Wrench KDL::ChainIdSolver_Vereshchagin::segment_info::PC

Definition at line 159 of file chainidsolver_vereshchagin.hpp.

Wrench KDL::ChainIdSolver_Vereshchagin::segment_info::PZ

Definition at line 158 of file chainidsolver_vereshchagin.hpp.

Wrench KDL::ChainIdSolver_Vereshchagin::segment_info::R

Definition at line 151 of file chainidsolver_vereshchagin.hpp.

Wrench KDL::ChainIdSolver_Vereshchagin::segment_info::R_tilde

Definition at line 152 of file chainidsolver_vereshchagin.hpp.

double KDL::ChainIdSolver_Vereshchagin::segment_info::totalBias

Definition at line 169 of file chainidsolver_vereshchagin.hpp.

Wrench KDL::ChainIdSolver_Vereshchagin::segment_info::U

Definition at line 150 of file chainidsolver_vereshchagin.hpp.

double KDL::ChainIdSolver_Vereshchagin::segment_info::u

Definition at line 170 of file chainidsolver_vereshchagin.hpp.

Twist KDL::ChainIdSolver_Vereshchagin::segment_info::v

Definition at line 148 of file chainidsolver_vereshchagin.hpp.

Twist KDL::ChainIdSolver_Vereshchagin::segment_info::Z

Definition at line 147 of file chainidsolver_vereshchagin.hpp.

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

• chainidsolver_vereshchagin.hpp