ex_admittance_ft.cpp File Reference

#include "common.hpp"
#include "example_paths.hpp"
#include <kdl/chainidsolver_recursive_newton_euler.hpp>
#include <kdl/chainjnttojacsolver.hpp>
#include <algorithm>
#include <cmath>
#include <iomanip>
#include <iostream>
#include <string>

Go to the source code of this file.

Classes
struct	Admittance
struct	Scene
struct	RneaController
struct	Metrics

Functions
int	main (int argc, char **argv)

Function Documentation

main()

int main	(	int	argc,
		char **	argv )

Definition at line 473 of file ex_admittance_ft.cpp.

References Admittance::bias, mj_kdl::Robot::chain, mj_kdl::cleanup(), Scene::env, KDL::Chain::getNrOfJoints(), mj_kdl_examples::Args::headless, mj_kdl_examples::home_q(), Admittance::offset, mj_kdl::Env::on_reset, mj_kdl_examples::parse_args(), mj_kdl::reset(), Scene::restarted, Scene::robot, mj_kdl::set_control_mode(), mj_kdl::set_joint_pos(), RneaController::tcp(), mj_kdl::TORQUE, mj_kdl_examples::verdict(), KDL::Vector::x(), KDL::Vector::y(), and KDL::Vector::z().