KDL::ChainHdSolver_Vereshchagin::segment_info Struct Reference

Public Member Functions
	segment_info (unsigned int nc)

Public Attributes
Twist	A
Twist	acc
double	biasAccComp
Twist	C
double	constAccComp
double	D
Matrix6Xd	E
Matrix6Xd	E_tilde
Eigen::VectorXd	EZ
Frame	F
Frame	F_base
Eigen::VectorXd	G
ArticulatedBodyInertia	H
Eigen::MatrixXd	M
double	nullspaceAccComp
ArticulatedBodyInertia	P
ArticulatedBodyInertia	P_tilde
Wrench	PC
Wrench	PZ
Wrench	R
Wrench	R_tilde
double	totalBias
Wrench	U
double	u
Twist	v
Twist	Z

Detailed Description

Definition at line 485 of file chainhdsolver_vereshchagin.hpp.

Constructor & Destructor Documentation

KDL::ChainHdSolver_Vereshchagin::segment_info::segment_info ( unsigned int  nc )

inline

Definition at line 514 of file chainhdsolver_vereshchagin.hpp.

Member Data Documentation

Twist KDL::ChainHdSolver_Vereshchagin::segment_info::A

Definition at line 496 of file chainhdsolver_vereshchagin.hpp.

Twist KDL::ChainHdSolver_Vereshchagin::segment_info::acc

Definition at line 491 of file chainhdsolver_vereshchagin.hpp.

double KDL::ChainHdSolver_Vereshchagin::segment_info::biasAccComp

Definition at line 510 of file chainhdsolver_vereshchagin.hpp.

Twist KDL::ChainHdSolver_Vereshchagin::segment_info::C

Definition at line 495 of file chainhdsolver_vereshchagin.hpp.

double KDL::ChainHdSolver_Vereshchagin::segment_info::constAccComp

Definition at line 509 of file chainhdsolver_vereshchagin.hpp.

double KDL::ChainHdSolver_Vereshchagin::segment_info::D

Definition at line 502 of file chainhdsolver_vereshchagin.hpp.

Matrix6Xd KDL::ChainHdSolver_Vereshchagin::segment_info::E

Definition at line 503 of file chainhdsolver_vereshchagin.hpp.

Matrix6Xd KDL::ChainHdSolver_Vereshchagin::segment_info::E_tilde

Definition at line 504 of file chainhdsolver_vereshchagin.hpp.

Eigen::VectorXd KDL::ChainHdSolver_Vereshchagin::segment_info::EZ

Definition at line 507 of file chainhdsolver_vereshchagin.hpp.

Frame KDL::ChainHdSolver_Vereshchagin::segment_info::F

Definition at line 487 of file chainhdsolver_vereshchagin.hpp.

Frame KDL::ChainHdSolver_Vereshchagin::segment_info::F_base

Definition at line 488 of file chainhdsolver_vereshchagin.hpp.

Eigen::VectorXd KDL::ChainHdSolver_Vereshchagin::segment_info::G

Definition at line 506 of file chainhdsolver_vereshchagin.hpp.

ArticulatedBodyInertia KDL::ChainHdSolver_Vereshchagin::segment_info::H

Definition at line 497 of file chainhdsolver_vereshchagin.hpp.

Eigen::MatrixXd KDL::ChainHdSolver_Vereshchagin::segment_info::M

Definition at line 505 of file chainhdsolver_vereshchagin.hpp.

double KDL::ChainHdSolver_Vereshchagin::segment_info::nullspaceAccComp

Definition at line 508 of file chainhdsolver_vereshchagin.hpp.

ArticulatedBodyInertia KDL::ChainHdSolver_Vereshchagin::segment_info::P

Definition at line 498 of file chainhdsolver_vereshchagin.hpp.

ArticulatedBodyInertia KDL::ChainHdSolver_Vereshchagin::segment_info::P_tilde

Definition at line 499 of file chainhdsolver_vereshchagin.hpp.

Wrench KDL::ChainHdSolver_Vereshchagin::segment_info::PC

Definition at line 501 of file chainhdsolver_vereshchagin.hpp.

Wrench KDL::ChainHdSolver_Vereshchagin::segment_info::PZ

Definition at line 500 of file chainhdsolver_vereshchagin.hpp.

Wrench KDL::ChainHdSolver_Vereshchagin::segment_info::R

Definition at line 493 of file chainhdsolver_vereshchagin.hpp.

Wrench KDL::ChainHdSolver_Vereshchagin::segment_info::R_tilde

Definition at line 494 of file chainhdsolver_vereshchagin.hpp.

double KDL::ChainHdSolver_Vereshchagin::segment_info::totalBias

Definition at line 511 of file chainhdsolver_vereshchagin.hpp.

Wrench KDL::ChainHdSolver_Vereshchagin::segment_info::U

Definition at line 492 of file chainhdsolver_vereshchagin.hpp.

double KDL::ChainHdSolver_Vereshchagin::segment_info::u

Definition at line 512 of file chainhdsolver_vereshchagin.hpp.

Twist KDL::ChainHdSolver_Vereshchagin::segment_info::v

Definition at line 490 of file chainhdsolver_vereshchagin.hpp.

Twist KDL::ChainHdSolver_Vereshchagin::segment_info::Z

Definition at line 489 of file chainhdsolver_vereshchagin.hpp.

---

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

• chainhdsolver_vereshchagin.hpp