| acc_root | KDL::ChainHdSolver_Vereshchagin | private |
| alfa_N | KDL::ChainHdSolver_Vereshchagin | private |
| alfa_N2 | KDL::ChainHdSolver_Vereshchagin | private |
| beta_N | KDL::ChainHdSolver_Vereshchagin | private |
| CartToJnt(const JntArray &q, const JntArray &q_dot, JntArray &q_dotdot, const Jacobian &alfa, const JntArray &beta, const Wrenches &f_ext, const JntArray &ff_torques, JntArray &constraint_torques) | KDL::ChainHdSolver_Vereshchagin | |
| chain | KDL::ChainHdSolver_Vereshchagin | private |
| ChainHdSolver_Vereshchagin(const Chain &chain, const Twist &root_acc, const unsigned int nc) | KDL::ChainHdSolver_Vereshchagin | |
| constraint_calculation(const JntArray &beta) | KDL::ChainHdSolver_Vereshchagin | private |
| downwards_sweep(const Jacobian &alfa, const JntArray &ff_torques) | KDL::ChainHdSolver_Vereshchagin | private |
| E_DEGRADED enum value | KDL::SolverI | private |
| E_MAX_ITERATIONS_EXCEEDED enum value | KDL::SolverI | private |
| E_NO_CONVERGE enum value | KDL::SolverI | private |
| E_NOERROR enum value | KDL::SolverI | private |
| E_NOT_IMPLEMENTED enum value | KDL::SolverI | private |
| E_NOT_UP_TO_DATE enum value | KDL::SolverI | private |
| E_OUT_OF_RANGE enum value | KDL::SolverI | private |
| E_SIZE_MISMATCH enum value | KDL::SolverI | private |
| E_SVD_FAILED enum value | KDL::SolverI | private |
| E_UNDEFINED enum value | KDL::SolverI | private |
| error | KDL::SolverI | private |
| F_total | KDL::ChainHdSolver_Vereshchagin | private |
| final_upwards_sweep(JntArray &q_dotdot, JntArray &constraint_torques) | KDL::ChainHdSolver_Vereshchagin | private |
| Frames typedef | KDL::ChainHdSolver_Vereshchagin | private |
| getContraintForceMagnitude(Eigen::VectorXd &nu_) | KDL::ChainHdSolver_Vereshchagin | |
| getError() const | KDL::SolverI | inlineprivatevirtual |
| getTotalTorque(JntArray &total_tau) | KDL::ChainHdSolver_Vereshchagin | |
| getTransformedLinkAcceleration(Twists &x_dotdot) | KDL::ChainHdSolver_Vereshchagin | |
| initial_upwards_sweep(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext) | KDL::ChainHdSolver_Vereshchagin | private |
| M_0_inverse | KDL::ChainHdSolver_Vereshchagin | private |
| Matrix6d typedef | KDL::ChainHdSolver_Vereshchagin | private |
| Matrix6Xd typedef | KDL::ChainHdSolver_Vereshchagin | private |
| nc | KDL::ChainHdSolver_Vereshchagin | private |
| nj | KDL::ChainHdSolver_Vereshchagin | private |
| ns | KDL::ChainHdSolver_Vereshchagin | private |
| nu | KDL::ChainHdSolver_Vereshchagin | private |
| nu_sum | KDL::ChainHdSolver_Vereshchagin | private |
| qdotdot_sum | KDL::ChainHdSolver_Vereshchagin | private |
| results | KDL::ChainHdSolver_Vereshchagin | private |
| Sm | KDL::ChainHdSolver_Vereshchagin | private |
| SolverI() | KDL::SolverI | inlineprivate |
| strError(const int error) const | KDL::SolverI | inlineprivatevirtual |
| tmpm | KDL::ChainHdSolver_Vereshchagin | private |
| total_torques | KDL::ChainHdSolver_Vereshchagin | private |
| Twists typedef | KDL::ChainHdSolver_Vereshchagin | private |
| Um | KDL::ChainHdSolver_Vereshchagin | private |
| updateInternalDataStructures() | KDL::ChainHdSolver_Vereshchagin | virtual |
| Vector6d typedef | KDL::ChainHdSolver_Vereshchagin | private |
| Vm | KDL::ChainHdSolver_Vereshchagin | private |
| ~ChainHdSolver_Vereshchagin() | KDL::ChainHdSolver_Vereshchagin | inline |
| ~SolverI() | KDL::SolverI | inlineprivatevirtual |