chainidsolver_recursive_newton_euler.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_IKSOLVER_RECURSIVE_NEWTON_EULER_HPP
00023 #define KDL_CHAIN_IKSOLVER_RECURSIVE_NEWTON_EULER_HPP
00024 
00025 #include "chainidsolver.hpp"
00026 
00027 namespace KDL{
00040     class ChainIdSolver_RNE : public ChainIdSolver{
00041     public:
00047         ChainIdSolver_RNE(const Chain& chain,Vector grav);
00048         ~ChainIdSolver_RNE(){};
00049         
00060         int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches& f_ext,JntArray &torques);
00061 
00062     private:
00063         Chain chain;
00064         unsigned int nj;
00065         unsigned int ns;
00066         std::vector<Frame> X;
00067         std::vector<Twist> S;
00068         std::vector<Twist> v;
00069         std::vector<Twist> a;
00070         std::vector<Wrench> f;
00071         Twist ag;
00072     };
00073 }
00074 
00075 #endif


orocos_kdl
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autogenerated on Wed Aug 26 2015 15:14:14