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chainhdsolver_vereshchagin.hpp File Reference
#include "chainidsolver.hpp"
#include "frames.hpp"
#include "articulatedbodyinertia.hpp"
#include <Eigen/StdVector>
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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



autogenerated on Thu Apr 13 2023 02:19:14