22 #ifndef KDL_CHAIN_IKSOLVER_RECURSIVE_NEWTON_EULER_HPP
23 #define KDL_CHAIN_IKSOLVER_RECURSIVE_NEWTON_EULER_HPP
70 std::vector<Wrench>
f;
std::vector< Twist > a
Definition: chainidsolver_recursive_newton_euler.hpp:69
std::vector< Wrench > Wrenches
Definition: chainidsolver.hpp:32
Chain chain
Definition: chainidsolver_recursive_newton_euler.hpp:63
This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
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
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
Twist ag
Definition: chainidsolver_recursive_newton_euler.hpp:71
std::vector< Wrench > f
Definition: chainidsolver_recursive_newton_euler.hpp:70
represents both translational and rotational velocities.
Definition: frames.hpp:720
This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.
Definition: chainidsolver.hpp:39
std::vector< Frame > X
Definition: chainidsolver_recursive_newton_euler.hpp:66
unsigned int ns
Definition: chainidsolver_recursive_newton_euler.hpp:65
Definition: articulatedbodyinertia.cpp:28
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
~ChainIdSolver_RNE()
Definition: chainidsolver_recursive_newton_euler.hpp:48
Recursive newton euler inverse dynamics solver.
Definition: chainidsolver_recursive_newton_euler.hpp:40
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:34
std::vector< Twist > v
Definition: chainidsolver_recursive_newton_euler.hpp:68
std::vector< Twist > S
Definition: chainidsolver_recursive_newton_euler.hpp:67
unsigned int nj
Definition: chainidsolver_recursive_newton_euler.hpp:64