KDL 1.5.1
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chainidsolver.hpp
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1// Copyright (C) 2009 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2
3// Version: 1.0
4// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6// URL: http://www.orocos.org/kdl
7
8// This library is free software; you can redistribute it and/or
9// modify it under the terms of the GNU Lesser General Public
10// License as published by the Free Software Foundation; either
11// version 2.1 of the License, or (at your option) any later version.
12
13// This library is distributed in the hope that it will be useful,
14// but WITHOUT ANY WARRANTY; without even the implied warranty of
15// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16// Lesser General Public License for more details.
17
18// You should have received a copy of the GNU Lesser General Public
19// License along with this library; if not, write to the Free Software
20// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21
22#ifndef KDL_CHAIN_IDSOLVER_HPP
23#define KDL_CHAIN_IDSOLVER_HPP
24
25#include "chain.hpp"
26#include "frames.hpp"
27#include "jntarray.hpp"
28#include "solveri.hpp"
29
30namespace KDL
31{
32
33 typedef std::vector<Wrench> Wrenches;
34
41 {
42 public:
55 virtual int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches& f_ext,JntArray &torques)=0;
56
57 // Need functions to return the manipulator mass, coriolis and gravity matrices - Lagrangian Formulation.
58 };
59
60}
61
62#endif
This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.
Definition chainidsolver.hpp:41
virtual int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext, JntArray &torques)=0
Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces to joint to...
Definition jntarray.hpp:70
Solver interface supporting storage and description of the latest error.
Definition solveri.hpp:85
Definition articulatedbodyinertia.cpp:26
std::vector< Wrench > Wrenches
Definition chainfdsolver.hpp:34