chaindynparam.hpp
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1 // Copyright (C) 2009 Dominick Vanthienen <dominick dot vanthienen at mech dot kuleuven dot be>
2 
3 // Version: 1.0
4 // Author: Dominick Vanthienen <dominick dot vanthienen at mech dot kuleuven dot be>
5 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // URL: http://www.orocos.org/kdl
7 
8 // This library is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU Lesser General Public
10 // License as published by the Free Software Foundation; either
11 // version 2.1 of the License, or (at your option) any later version.
12 
13 // This library is distributed in the hope that it will be useful,
14 // but WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // Lesser General Public License for more details.
17 
18 // You should have received a copy of the GNU Lesser General Public
19 // License along with this library; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21 
22 #ifndef KDLCHAINDYNPARAM_HPP
23 #define KDLCHAINDYNPARAM_HPP
24 
28 #include <Eigen/StdVector>
29 
30 namespace KDL {
31 
47  class ChainDynParam : public SolverI
48  {
49  public:
50  ChainDynParam(const Chain& chain, Vector _grav);
51  virtual ~ChainDynParam();
52 
53  virtual int JntToCoriolis(const JntArray &q, const JntArray &q_dot, JntArray &coriolis);
54  virtual int JntToMass(const JntArray &q, JntSpaceInertiaMatrix& H);
55  virtual int JntToGravity(const JntArray &q,JntArray &gravity);
56 
58  virtual void updateInternalDataStructures();
59 
60  private:
61  const Chain& chain;
62  int nr; // unused, remove in a future version
63  unsigned int nj;
64  unsigned int ns;
70  std::vector<Wrench> wrenchnull;
71  std::vector<Frame> X;
72  std::vector<Twist> S;
73  //std::vector<RigidBodyInertia> I;
74  std::vector<ArticulatedBodyInertia, Eigen::aligned_allocator<ArticulatedBodyInertia> > Ic;
77 
78  };
79 
80 }
81 
82 #endif
std::vector< ArticulatedBodyInertia, Eigen::aligned_allocator< ArticulatedBodyInertia > > Ic
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
Definition: chain.hpp:35
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
std::vector< Wrench > wrenchnull
represents both translational and rotational velocities.
Definition: frames.hpp:720
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
ChainDynParam(const Chain &chain, Vector _grav)
Recursive newton euler inverse dynamics solver.
virtual int JntToCoriolis(const JntArray &q, const JntArray &q_dot, JntArray &coriolis)
std::vector< Twist > S
ChainIdSolver_RNE chainidsolver_gravity
std::vector< Frame > X
virtual void updateInternalDataStructures()
represents both translational and rotational acceleration.
Definition: frames.hpp:878
const Chain & chain
virtual int JntToMass(const JntArray &q, JntSpaceInertiaMatrix &H)
ChainIdSolver_RNE chainidsolver_coriolis
virtual int JntToGravity(const JntArray &q, JntArray &gravity)


orocos_kdl
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autogenerated on Tue Sep 1 2020 03:18:51