Go to the documentation of this file.
22 #ifndef KDLCHAINDYNPARAM_HPP
23 #define KDLCHAINDYNPARAM_HPP
28 #include <Eigen/StdVector>
74 std::vector<ArticulatedBodyInertia, Eigen::aligned_allocator<ArticulatedBodyInertia> >
Ic;
std::vector< Wrench > wrenchnull
Definition: chaindynparam.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
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chaindynparam.cpp:45
static Vector Zero()
Definition: frames.inl:138
const Joint & getJoint() const
Request the joint of the segment.
Definition: segment.hpp:118
Twist ag
Definition: chaindynparam.hpp:76
void resize(unsigned int newSize)
Resize the array.
Definition: jntarray.cpp:55
std::vector< ArticulatedBodyInertia, Eigen::aligned_allocator< ArticulatedBodyInertia > > Ic
Definition: chaindynparam.hpp:74
@ E_NOT_UP_TO_DATE
Chain size changed.
Definition: solveri.hpp:97
Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) for t...
Definition: chaindynparam.hpp:48
std::vector< Frame > X
Definition: chaindynparam.hpp:71
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
unsigned int rows() const
Returns the number of rows (size) of the array.
Definition: jntarray.cpp:72
unsigned int nj
Definition: chaindynparam.hpp:63
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
unsigned int ns
Definition: chaindynparam.hpp:64
@ E_SIZE_MISMATCH
Input size does not match internal state.
Definition: solveri.hpp:99
represents both translational and rotational acceleration.
Definition: frames.hpp:879
Frame pose(const double &q) const
Request the pose of the segment, given the joint position q.
Definition: segment.cpp:57
virtual int JntToMass(const JntArray &q, JntSpaceInertiaMatrix &H)
Definition: chaindynparam.cpp:59
int nr
Definition: chaindynparam.hpp:62
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
ChainDynParam(const Chain &chain, Vector _grav)
Definition: chaindynparam.cpp:28
@ None
Definition: joint.hpp:47
Solver interface supporting storage and description of the latest error.
Definition: solveri.hpp:85
static Wrench Zero()
Definition: frames.inl:185
Vector grav
Definition: chaindynparam.hpp:65
std::vector< Twist > S
Definition: chaindynparam.hpp:72
ChainIdSolver_RNE chainidsolver_coriolis
Definition: chaindynparam.hpp:68
ChainIdSolver_RNE chainidsolver_gravity
Definition: chaindynparam.hpp:69
virtual int JntToGravity(const JntArray &q, JntArray &gravity)
Definition: chaindynparam.cpp:137
Wrench F
Definition: chaindynparam.hpp:75
virtual ~ChainDynParam()
Definition: chaindynparam.cpp:147
Vector vectornull
Definition: chaindynparam.hpp:66
const JointType & getType() const
Request the type of the joint.
Definition: joint.hpp:159
void SetToZero(Jacobian &jac)
Definition: jacobian.cpp:80
@ E_NOERROR
No error.
Definition: solveri.hpp:91
const Chain & chain
Definition: chaindynparam.hpp:61
virtual int JntToCoriolis(const JntArray &q, const JntArray &q_dot, JntArray &coriolis)
Definition: chaindynparam.cpp:125
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
JntArray jntarraynull
Definition: chaindynparam.hpp:67
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:149
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainidsolver_recursive_newton_euler.cpp:34