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22 #ifndef KDL_TREE_IDSOLVER_RECURSIVE_NEWTON_EULER_HPP
23 #define KDL_TREE_IDSOLVER_RECURSIVE_NEWTON_EULER_HPP
void rne_step(SegmentMap::const_iterator segment, const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap &f_ext, JntArray &torques)
One recursion step.
std::map< std::string, Twist > S
TreeIdSolver_RNE(const Tree &tree, Vector grav)
std::map< std::string, Wrench > f
A concrete implementation of a 3 dimensional vector class.
std::map< std::string, Twist > v
std::map< std::string, Frame > X
represents both translational and rotational velocities.
void initAuxVariables()
Helper function to initialize private members X, S, v, a, f.
This class encapsulates a tree kinematic interconnection structure. It is built out of segments.
Recursive newton euler inverse dynamics solver for kinematic trees.
virtual void updateInternalDataStructures()
std::map< std::string, Twist > a
This abstract class encapsulates the inverse dynamics solver for a KDL::Tree.
int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap &f_ext, JntArray &torques)