Public Member Functions
KDL::ChainIdSolver Class Reference

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

#include <chainidsolver.hpp>

Inheritance diagram for KDL::ChainIdSolver:
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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

Detailed Description

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

Definition at line 40 of file chainidsolver.hpp.


Member Function Documentation

virtual int KDL::ChainIdSolver::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::ChainIdSolver_RNE.


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


orocos_kdl
Author(s):
autogenerated on Wed Mar 6 2019 03:36:13