This abstract class encapsulates the inverse dynamics solver for a KDL::Chain. More...
#include <chainfdsolver.hpp>
Inheritance diagram for KDL::ChainFdSolver:
Public Member Functions | |
| virtual int | CartToJnt (const JntArray &q, const JntArray &q_dot, const JntArray &torques, const Wrenches &f_ext, JntArray &q_dotdot)=0 |
Detailed Description
This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.
Definition at line 40 of file chainfdsolver.hpp.
Member Function Documentation
| virtual int KDL::ChainFdSolver::CartToJnt | ( | const JntArray & | q, |
| const JntArray & | q_dot, | ||
| const JntArray & | torques, | ||
| const Wrenches & | f_ext, | ||
| JntArray & | q_dotdot | ||
| ) | [pure virtual] |
Calculate forward dynamics from joint positions, joint velocities, joint torques/forces, and externally applied forces/torques to joint accelerations.
- Parameters:
-
q input joint positions q_dot input joint velocities torque input joint torques f_ext external forces q_dotdot output joint accelerations
- Returns:
- if < 0 something went wrong
Implemented in KDL::ChainFdSolver_RNE.
The documentation for this class was generated from the following file: