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

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

#include <treeidsolver.hpp>

Inheritance diagram for KDL::TreeIdSolver:
Inheritance graph
[legend]

Public Member Functions

virtual int CartToJnt (const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap &f_ext, JntArray &torques)=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::Tree.

Definition at line 40 of file treeidsolver.hpp.

Member Function Documentation

◆ CartToJnt()

virtual int KDL::TreeIdSolver::CartToJnt ( const JntArray q,
const JntArray q_dot,
const JntArray q_dotdot,
const WrenchMap 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
f_extthe external forces (no gravity) on the segments
torqueoutput joint torques
Returns
if < 0 something went wrong

Implemented in KDL::TreeIdSolver_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