ex_impedance.cpp File Reference

#include "mj_kdl_wrapper/mj_kdl_wrapper.hpp"
#include <kdl/chaindynparam.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <cmath>
#include <filesystem>
#include <iomanip>
#include <iostream>
#include <string>

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

Function Documentation

main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 37 of file ex_impedance.cpp.

References mj_kdl::AttachmentSpec::attach_to, mj_kdl::RobotSpec::attachments, mj_kdl::build_scene(), mj_kdl::Robot::chain, mj_kdl::cleanup(), mj_kdl::Robot::ctrl_mode, mj_kdl::destroy_scene(), mj_kdl::AttachmentSpec::euler, mj_kdl::init_robot_from_mjcf(), mj_kdl::init_window_sim(), mj_kdl::Robot::jnt_pos_cmd, mj_kdl::Robot::jnt_pos_msr, mj_kdl::Robot::jnt_trq_cmd, mj_kdl::Robot::jnt_vel_msr, mj_kdl::Robot::kdl_to_mj_dof, mj_kdl::Robot::kdl_to_mj_qpos, mj_kdl::AttachmentSpec::mjcf_path, mj_kdl::RobotSpec::path, mj_kdl::AttachmentSpec::pos, mj_kdl::AttachmentSpec::prefix, mj_kdl::SceneSpec::robots, mj_kdl::set_joint_pos(), mj_kdl::step(), mj_kdl::tick(), mj_kdl::TORQUE, and mj_kdl::update().