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22 #ifndef KDL_CHAIN_IKSOLVER_RECURSIVE_NEWTON_EULER_HPP
23 #define KDL_CHAIN_IKSOLVER_RECURSIVE_NEWTON_EULER_HPP
73 std::vector<Wrench>
f;
std::vector< Twist > S
Definition: chainidsolver_recursive_newton_euler.hpp:70
Recursive newton euler inverse dynamics solver.
Definition: chainidsolver_recursive_newton_euler.hpp:40
Definition: jntarray.hpp:70
int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext, JntArray &torques)
Function to calculate from Cartesian forces to joint torques.
Definition: chainidsolver_recursive_newton_euler.cpp:44
Twist ag
Definition: chainidsolver_recursive_newton_euler.hpp:74
static Vector Zero()
Definition: frames.inl:138
const Joint & getJoint() const
Request the joint of the segment.
Definition: segment.hpp:118
std::vector< Wrench > f
Definition: chainidsolver_recursive_newton_euler.hpp:73
@ E_NOT_UP_TO_DATE
Chain size changed.
Definition: solveri.hpp:97
6D Inertia of a rigid body
Definition: rigidbodyinertia.hpp:37
std::vector< Frame > X
Definition: chainidsolver_recursive_newton_euler.hpp:69
Definition: articulatedbodyinertia.cpp:28
unsigned int getNrOfSegments() const
Request the total number of segments in the chain.
Definition: chain.hpp:76
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:161
represents both translational and rotational velocities.
Definition: frames.hpp:720
const Chain & chain
Definition: chainidsolver_recursive_newton_euler.hpp:66
unsigned int rows() const
Returns the number of rows (size) of the array.
Definition: jntarray.cpp:72
doubleAcc dot(const VectorAcc &lhs, const VectorAcc &rhs)
Definition: frameacc.inl:137
const Segment & getSegment(unsigned int nr) const
Request the nr'd segment of the chain.
Definition: chain.cpp:68
@ E_SIZE_MISMATCH
Input size does not match internal state.
Definition: solveri.hpp:99
Frame pose(const double &q) const
Request the pose of the segment, given the joint position q.
Definition: segment.cpp:57
std::vector< Twist > a
Definition: chainidsolver_recursive_newton_euler.hpp:72
Twist twist(const double &q, const double &qdot) const
Request the 6D-velocity of the tip of the segment, given the joint position q and the joint velocity ...
Definition: segment.cpp:62
std::vector< Wrench > Wrenches
Definition: chainidsolver.hpp:33
@ None
Definition: joint.hpp:47
ChainIdSolver_RNE(const Chain &chain, Vector grav)
Constructor for the solver, it will allocate all the necessary memory.
Definition: chainidsolver_recursive_newton_euler.cpp:27
const JointType & getType() const
Request the type of the joint.
Definition: joint.hpp:159
unsigned int nj
Definition: chainidsolver_recursive_newton_euler.hpp:67
@ E_NOERROR
No error.
Definition: solveri.hpp:91
This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.
Definition: chainidsolver.hpp:41
std::vector< Twist > v
Definition: chainidsolver_recursive_newton_euler.hpp:71
const RigidBodyInertia & getInertia() const
Request the inertia of the segment.
Definition: segment.hpp:128
unsigned int getNrOfJoints() const
Request the total number of joints in the chain.
Definition: chain.hpp:71
unsigned int ns
Definition: chainidsolver_recursive_newton_euler.hpp:68
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:149
~ChainIdSolver_RNE()
Definition: chainidsolver_recursive_newton_euler.hpp:48
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainidsolver_recursive_newton_euler.cpp:34