chainidsolver.hpp
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00001 // Copyright  (C)  2009  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 #ifndef KDL_CHAIN_IDSOLVER_HPP
00023 #define KDL_CHAIN_IDSOLVER_HPP
00024 
00025 #include "chain.hpp"
00026 #include "frames.hpp"
00027 #include "jntarray.hpp"
00028 
00029 namespace KDL
00030 {
00031 
00032     typedef std::vector<Wrench> Wrenches;
00033 
00039         class ChainIdSolver
00040         {
00041                 public:
00054         virtual int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches& f_ext,JntArray &torques)=0;
00055 
00056         // Need functions to return the manipulator mass, coriolis and gravity matrices - Lagrangian Formulation.
00057         };
00058 
00059 }
00060 
00061 #endif


orocos_kdl
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autogenerated on Mon Oct 6 2014 03:11:16