treeidsolver.hpp
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1 // Copyright (C) 2009 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 
3 // Version: 1.0
4 // Author: Franco Fusco <franco dot fusco at ls2n dot fr>
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 KDL_TREE_IDSOLVER_HPP
23 #define KDL_TREE_IDSOLVER_HPP
24 
25 #include "tree.hpp"
26 #include "frames.hpp"
27 #include "jntarray.hpp"
28 #include "solveri.hpp"
29 
30 namespace KDL
31 {
32 
33  typedef std::map<std::string,Wrench> WrenchMap;
34 
40  class TreeIdSolver : public KDL::SolverI
41  {
42  public:
55  virtual int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap& f_ext,JntArray &torques)=0;
56 
57  // Need functions to return the manipulator mass, coriolis and gravity matrices - Lagrangian Formulation.
58  };
59 
60 }
61 
62 #endif
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
virtual int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap &f_ext, JntArray &torques)=0
std::map< std::string, Wrench > WrenchMap
This abstract class encapsulates the inverse dynamics solver for a KDL::Tree.


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autogenerated on Tue Sep 22 2020 03:17:50