Public Member Functions
KDL::TreeIdSolver Class Reference

This abstract class encapsulates the inverse dynamics solver for a KDL::Chain. More...

#include <treeidsolver.hpp>

Inheritance diagram for KDL::TreeIdSolver:
Inheritance graph
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List of all members.

Public Member Functions

virtual int CartToJnt (const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext, JntArray &torques)=0
virtual int CartToJnt (const std::vector< double > &q, const std::vector< double > &q_dot, const std::vector< double > &q_dotdot, const Wrenches &f_ext, JntArray &torques)=0

Detailed Description

This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.

Definition at line 39 of file treeidsolver.hpp.


Member Function Documentation

virtual int KDL::TreeIdSolver::CartToJnt ( const JntArray &  q,
const JntArray &  q_dot,
const JntArray &  q_dotdot,
const Wrenches f_ext,
JntArray &  torques 
) [pure virtual]

Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces to joint torques/forces.

Parameters:
qinput joint positions
q_dotinput joint velocities
q_dotdotinput joint accelerations
torqueoutput joint torques
Returns:
if < 0 something went wrong

Implemented in KDL::TreeIdSolver_RNE.

virtual int KDL::TreeIdSolver::CartToJnt ( const std::vector< double > &  q,
const std::vector< double > &  q_dot,
const std::vector< double > &  q_dotdot,
const Wrenches f_ext,
JntArray &  torques 
) [pure virtual]

Implemented in KDL::TreeIdSolver_RNE.


The documentation for this class was generated from the following file:


r2_controllers_gazebo
Author(s): Stephen Hart
autogenerated on Mon Oct 6 2014 02:48:44