This abstract class encapsulates the inverse dynamics solver for a KDL::Tree. More...
#include <treeidsolver.hpp>
Inheritance diagram for KDL::TreeIdSolver:
Public Member Functions | |
| virtual int | CartToJnt (const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap &f_ext, JntArray &torques)=0 |
 Public Member Functions inherited from KDL::SolverI | |
| virtual int | getError () const |
| Return the latest error. More... | |
| SolverI () | |
| Initialize latest error to E_NOERROR. More... | |
| virtual const char * | strError (const int error) const |
| virtual void | updateInternalDataStructures ()=0 |
| virtual | ~SolverI () |
Additional Inherited Members | |
| Public Types inherited from KDL::SolverI | |
| enum | { E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2, E_NOT_UP_TO_DATE = -3, E_SIZE_MISMATCH = -4, E_MAX_ITERATIONS_EXCEEDED = -5, E_OUT_OF_RANGE = -6, E_NOT_IMPLEMENTED = -7, E_SVD_FAILED = -8 } |
| Protected Attributes inherited from KDL::SolverI | |
| int | error |
| Latest error, initialized to E_NOERROR in constructor. More... | |
Detailed Description
This abstract class encapsulates the inverse dynamics solver for a KDL::Tree.
Definition at line 40 of file treeidsolver.hpp.
Member Function Documentation
◆ CartToJnt()
|
pure virtual |
Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces to joint torques/forces.
- Parameters
-
q input joint positions q_dot input joint velocities q_dotdot input joint accelerations f_ext the external forces (no gravity) on the segments torque output joint torques
- Returns
- if < 0 something went wrong
Implemented in KDL::TreeIdSolver_RNE.
The documentation for this class was generated from the following file: