Class InverseDynamicsSolverKDL

Defined in File kdl_inverse_dynamics_solver.hpp

Inheritance Relationships

Base Type

public inverse_dynamics_solver::InverseDynamicsSolver

Class Documentation

class InverseDynamicsSolverKDL : public inverse_dynamics_solver::InverseDynamicsSolver

Public Functions

inline InverseDynamicsSolverKDL()

void initialize(rclcpp::node_interfaces::NodeParametersInterface::ConstSharedPtr parameters_interface, const std::string &param_namespace = "", const std::string &robot_description = "") override

Refer to the superclass documentation.

This method must be called before any other.

Throws:

ParameterUninitializedException – if the required parameters are not found in parameters_interface
InvalidParameterValueException – if the parameters are not valid, i.e. robot_description is malformed, the kinematic chain’s root and tip are not correctly configured, or the gravity vector is not coherent

Eigen::MatrixXd getInertiaMatrix(const Eigen::VectorXd &joint_positions) const override: Refer to the superclass documentation.

Eigen::VectorXd getCoriolisVector(const Eigen::VectorXd &joint_positions, const Eigen::VectorXd &joint_velocities) const override: Refer to the superclass documentation.

Eigen::VectorXd getGravityVector(const Eigen::VectorXd &joint_positions) const override: Refer to the superclass documentation.

Eigen::VectorXd getFrictionVector(const Eigen::VectorXd&) const override: Refer to the superclass documentation.