chainfdsolver.hpp
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1 // Copyright (C) 2018 Ruben Smits <ruben dot smits at intermodalics dot be>
2 
3 // Version: 1.0
4 // Author: Ruben Smits <ruben dot smits at intermodalics dot be>
5 // Author: Craig Carignan <craigc at ssl dot umd dot edu>
6 // Maintainer: Ruben Smits <ruben dot smits at intermodalics dot be>
7 // URL: http://www.orocos.org/kdl
8 
9 // This library is free software; you can redistribute it and/or
10 // modify it under the terms of the GNU Lesser General Public
11 // License as published by the Free Software Foundation; either
12 // version 2.1 of the License, or (at your option) any later version.
13 
14 // This library is distributed in the hope that it will be useful,
15 // but WITHOUT ANY WARRANTY; without even the implied warranty of
16 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17 // Lesser General Public License for more details.
18 
19 // You should have received a copy of the GNU Lesser General Public
20 // License along with this library; if not, write to the Free Software
21 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
22 
23 #ifndef KDL_CHAIN_FDSOLVER_HPP
24 #define KDL_CHAIN_FDSOLVER_HPP
25 
26 #include "chain.hpp"
27 #include "frames.hpp"
28 #include "jntarray.hpp"
29 #include "solveri.hpp"
30 
31 namespace KDL
32 {
33 
34  typedef std::vector<Wrench> Wrenches;
35 
41  class ChainFdSolver : public KDL::SolverI
42  {
43  public:
57  virtual int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &torques, const Wrenches& f_ext,JntArray &q_dotdot)=0;
58  };
59 
60 }
61 
62 #endif
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
std::vector< Wrench > Wrenches
This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.
virtual int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &torques, const Wrenches &f_ext, JntArray &q_dotdot)=0


orocos_kdl
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autogenerated on Tue Dec 22 2020 03:18:17