Public Member Functions | List of all members
KDL::ChainFdSolver Class Referenceabstract

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

#include <chainfdsolver.hpp>

Inheritance diagram for KDL::ChainFdSolver:
Inheritance graph
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Public Member Functions

virtual int CartToJnt (const JntArray &q, const JntArray &q_dot, const JntArray &torques, const Wrenches &f_ext, JntArray &q_dotdot)=0
 
- Public Member Functions inherited from KDL::SolverI
virtual int getError () const
 Return the latest error. More...
 
 SolverI ()
 Initialize latest error to E_NOERROR. More...
 
virtual const char * strError (const int error) const
 
virtual void updateInternalDataStructures ()=0
 
virtual ~SolverI ()
 

Additional Inherited Members

- Public Types inherited from KDL::SolverI
enum  {
  E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2,
  E_NOT_UP_TO_DATE = -3, E_SIZE_MISMATCH = -4, E_MAX_ITERATIONS_EXCEEDED = -5, E_OUT_OF_RANGE = -6,
  E_NOT_IMPLEMENTED = -7, E_SVD_FAILED = -8
}
 
- Protected Attributes inherited from KDL::SolverI
int error
 Latest error, initialized to E_NOERROR in constructor. More...
 

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

◆ CartToJnt()

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
qinput joint positions
q_dotinput joint velocities
torqueinput joint torques
f_extexternal forces
q_dotdotoutput joint accelerations
        @return if < 0 something went wrong

Implemented in KDL::ChainFdSolver_RNE.


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


orocos_kdl
Author(s):
autogenerated on Wed Jul 1 2020 03:17:40