CHAIN | KDL::ChainExternalWrenchEstimator | private |
ChainExternalWrenchEstimator(const Chain &chain, const Vector &gravity, const double sample_frequency, const double estimation_gain, const double filter_constant, const double eps=0.00001, const int maxiter=150) | KDL::ChainExternalWrenchEstimator | |
coriolis_torque | KDL::ChainExternalWrenchEstimator | private |
DT_SEC | KDL::ChainExternalWrenchEstimator | private |
dynparam_solver | KDL::ChainExternalWrenchEstimator | private |
E_DEGRADED enum value | KDL::SolverI | |
E_DYNPARAMSOLVERCORIOLIS_FAILED | KDL::ChainExternalWrenchEstimator | static |
E_DYNPARAMSOLVERGRAVITY_FAILED | KDL::ChainExternalWrenchEstimator | static |
E_DYNPARAMSOLVERMASS_FAILED | KDL::ChainExternalWrenchEstimator | static |
E_FKSOLVERPOS_FAILED | KDL::ChainExternalWrenchEstimator | static |
E_JACSOLVER_FAILED | KDL::ChainExternalWrenchEstimator | static |
E_MAX_ITERATIONS_EXCEEDED enum value | KDL::SolverI | |
E_NO_CONVERGE enum value | KDL::SolverI | |
E_NOERROR enum value | KDL::SolverI | |
E_NOT_IMPLEMENTED enum value | KDL::SolverI | |
E_NOT_UP_TO_DATE enum value | KDL::SolverI | |
E_OUT_OF_RANGE enum value | KDL::SolverI | |
E_SIZE_MISMATCH enum value | KDL::SolverI | |
E_SVD_FAILED enum value | KDL::SolverI | |
E_UNDEFINED enum value | KDL::SolverI | |
error | KDL::SolverI | protected |
estimated_ext_torque | KDL::ChainExternalWrenchEstimator | private |
estimated_momentum_integral | KDL::ChainExternalWrenchEstimator | private |
ESTIMATION_GAIN | KDL::ChainExternalWrenchEstimator | private |
FILTER_CONST | KDL::ChainExternalWrenchEstimator | private |
filtered_estimated_ext_torque | KDL::ChainExternalWrenchEstimator | private |
fk_pos_solver | KDL::ChainExternalWrenchEstimator | private |
getError() const | KDL::SolverI | inlinevirtual |
getEstimatedJntTorque(JntArray &external_joint_torque) | KDL::ChainExternalWrenchEstimator | |
gravity_torque | KDL::ChainExternalWrenchEstimator | private |
initial_jnt_momentum | KDL::ChainExternalWrenchEstimator | private |
jacobian_end_eff | KDL::ChainExternalWrenchEstimator | private |
jacobian_end_eff_transpose | KDL::ChainExternalWrenchEstimator | private |
jacobian_end_eff_transpose_inv | KDL::ChainExternalWrenchEstimator | private |
jacobian_solver | KDL::ChainExternalWrenchEstimator | private |
jnt_mass_matrix | KDL::ChainExternalWrenchEstimator | private |
jnt_mass_matrix_dot | KDL::ChainExternalWrenchEstimator | private |
JntToExtWrench(const JntArray &joint_position, const JntArray &joint_velocity, const JntArray &joint_torque, Wrench &external_wrench) | KDL::ChainExternalWrenchEstimator | |
nj | KDL::ChainExternalWrenchEstimator | private |
ns | KDL::ChainExternalWrenchEstimator | private |
previous_jnt_mass_matrix | KDL::ChainExternalWrenchEstimator | private |
S | KDL::ChainExternalWrenchEstimator | private |
S_inv | KDL::ChainExternalWrenchEstimator | private |
setInitialMomentum(const JntArray &joint_position, const JntArray &joint_velocity) | KDL::ChainExternalWrenchEstimator | |
setSVDEps(const double eps_in) | KDL::ChainExternalWrenchEstimator | |
setSVDMaxIter(const int maxiter_in) | KDL::ChainExternalWrenchEstimator | |
SolverI() | KDL::SolverI | inline |
strError(const int error) const | KDL::ChainExternalWrenchEstimator | virtual |
svd_eps | KDL::ChainExternalWrenchEstimator | private |
svd_maxiter | KDL::ChainExternalWrenchEstimator | private |
tmp | KDL::ChainExternalWrenchEstimator | private |
total_torque | KDL::ChainExternalWrenchEstimator | private |
U | KDL::ChainExternalWrenchEstimator | private |
updateInternalDataStructures() | KDL::ChainExternalWrenchEstimator | virtual |
V | KDL::ChainExternalWrenchEstimator | private |
Vector6d typedef | KDL::ChainExternalWrenchEstimator | private |
~ChainExternalWrenchEstimator() | KDL::ChainExternalWrenchEstimator | inline |
~SolverI() | KDL::SolverI | inlinevirtual |