orocos_kdl
src
chainidsolver_recursive_newton_euler.hpp
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// Copyright (C) 2009 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#ifndef KDL_CHAIN_IKSOLVER_RECURSIVE_NEWTON_EULER_HPP
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#define KDL_CHAIN_IKSOLVER_RECURSIVE_NEWTON_EULER_HPP
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#include "
chainidsolver.hpp
"
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namespace
KDL
{
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class
ChainIdSolver_RNE
:
public
ChainIdSolver
{
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public
:
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ChainIdSolver_RNE
(
const
Chain
&
chain
,
Vector
grav);
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~ChainIdSolver_RNE
(){};
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int
CartToJnt
(
const
JntArray
&q,
const
JntArray
&q_dot,
const
JntArray
&q_dotdot,
const
Wrenches
& f_ext,
JntArray
&torques);
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virtual
void
updateInternalDataStructures
();
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private
:
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const
Chain
&
chain
;
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unsigned
int
nj
;
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unsigned
int
ns
;
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std::vector<Frame>
X
;
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std::vector<Twist>
S
;
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std::vector<Twist>
v
;
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std::vector<Twist>
a
;
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std::vector<Wrench>
f
;
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Twist
ag
;
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};
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}
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#endif
KDL::ChainIdSolver_RNE::S
std::vector< Twist > S
Definition:
chainidsolver_recursive_newton_euler.hpp:70
KDL::ChainIdSolver_RNE
Recursive newton euler inverse dynamics solver.
Definition:
chainidsolver_recursive_newton_euler.hpp:40
KDL::JntArray
Definition:
jntarray.hpp:69
KDL::ChainIdSolver_RNE::CartToJnt
int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext, JntArray &torques)
Definition:
chainidsolver_recursive_newton_euler.cpp:44
KDL::ChainIdSolver_RNE::ag
Twist ag
Definition:
chainidsolver_recursive_newton_euler.hpp:74
std::vector
KDL::ChainIdSolver_RNE::f
std::vector< Wrench > f
Definition:
chainidsolver_recursive_newton_euler.hpp:73
KDL::ChainIdSolver_RNE::X
std::vector< Frame > X
Definition:
chainidsolver_recursive_newton_euler.hpp:69
KDL
Definition:
kukaLWR_DHnew.cpp:25
KDL::Vector
A concrete implementation of a 3 dimensional vector class.
Definition:
frames.hpp:162
KDL::Twist
represents both translational and rotational velocities.
Definition:
frames.hpp:723
KDL::ChainIdSolver_RNE::chain
const Chain & chain
Definition:
chainidsolver_recursive_newton_euler.hpp:66
chainidsolver.hpp
KDL::ChainIdSolver_RNE::a
std::vector< Twist > a
Definition:
chainidsolver_recursive_newton_euler.hpp:72
KDL::ChainIdSolver_RNE::ChainIdSolver_RNE
ChainIdSolver_RNE(const Chain &chain, Vector grav)
Definition:
chainidsolver_recursive_newton_euler.cpp:27
KDL::ChainIdSolver_RNE::nj
unsigned int nj
Definition:
chainidsolver_recursive_newton_euler.hpp:67
KDL::ChainIdSolver
This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.
Definition:
chainidsolver.hpp:40
KDL::ChainIdSolver_RNE::v
std::vector< Twist > v
Definition:
chainidsolver_recursive_newton_euler.hpp:71
KDL::Chain
This class encapsulates a serial kinematic interconnection structure. It is built out of segments.
Definition:
chain.hpp:35
KDL::ChainIdSolver_RNE::ns
unsigned int ns
Definition:
chainidsolver_recursive_newton_euler.hpp:68
KDL::ChainIdSolver_RNE::~ChainIdSolver_RNE
~ChainIdSolver_RNE()
Definition:
chainidsolver_recursive_newton_euler.hpp:48
KDL::ChainIdSolver_RNE::updateInternalDataStructures
virtual void updateInternalDataStructures()
Definition:
chainidsolver_recursive_newton_euler.cpp:34
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