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22 #ifndef KDLCHAINDYNPARAM_HPP
23 #define KDLCHAINDYNPARAM_HPP
28 #include <Eigen/StdVector>
std::vector< Wrench > wrenchnull
Recursive newton euler inverse dynamics solver.
virtual void updateInternalDataStructures()
std::vector< ArticulatedBodyInertia, Eigen::aligned_allocator< ArticulatedBodyInertia > > Ic
A concrete implementation of a 3 dimensional vector class.
represents both translational and rotational velocities.
represents both translational and rotational acceleration.
virtual int JntToMass(const JntArray &q, JntSpaceInertiaMatrix &H)
ChainDynParam(const Chain &chain, Vector _grav)
ChainIdSolver_RNE chainidsolver_coriolis
ChainIdSolver_RNE chainidsolver_gravity
virtual int JntToGravity(const JntArray &q, JntArray &gravity)
virtual int JntToCoriolis(const JntArray &q, const JntArray &q_dot, JntArray &coriolis)
This class encapsulates a serial kinematic interconnection structure. It is built out of segments.