chainhdsolver_vereshchagin.hpp File Reference

`#include "chainidsolver.hpp"`

`#include "frames.hpp"`

`#include "articulatedbodyinertia.hpp"`

`#include <Eigen/StdVector>`

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## Classes | |

class | KDL::ChainHdSolver_Vereshchagin |

Abstract: Acceleration constrained hybrid dynamics calculations for a chain, based on Vereshchagin 1989. This class creates an instance of the hybrid dynamics solver. The solver analytically calculates the joint space constraint torques and acceleration in a chain when a constraint force(s) is applied to the chain's end-effector (task space / cartesian space). In the robotics literature, this algorithm is also known under the following names: Acceleration Constrained Hybrid Dynamics (ACHD) and Popov-Vereshchagin solver. More... | |

struct | KDL::ChainHdSolver_Vereshchagin::segment_info |

## Namespaces | |

KDL | |