KDL::ChainFdSolver Class Reference

This abstract class encapsulates the inverse dynamics solver for a KDL::Chain. More...

#include <chainfdsolver.hpp>

Inheritance diagram for KDL::ChainFdSolver:

Public Member Functions
virtual int	CartToJnt (const JntArray &q, const JntArray &q_dot, const JntArray &torques, const Wrenches &f_ext, JntArray &q_dotdot)=0
Public Member Functions inherited from KDL::SolverI
	SolverI ()
	Initialize latest error to E_NOERROR.
virtual	~SolverI ()
virtual int	getError () const
	Return the latest error.
virtual const char *	strError (const int error) const
virtual void	updateInternalDataStructures ()=0

Additional Inherited Members
Public Types inherited from KDL::SolverI
enum	{   E_DEGRADED = +1 , E_NOERROR = 0 , E_NO_CONVERGE = -1 , E_UNDEFINED = -2 ,   E_NOT_UP_TO_DATE = -3 , E_SIZE_MISMATCH = -4 , E_MAX_ITERATIONS_EXCEEDED = -5 , E_OUT_OF_RANGE = -6 ,   E_NOT_IMPLEMENTED = -7 , E_SVD_FAILED = -8 }
Protected Attributes inherited from KDL::SolverI
int	error
	Latest error, initialized to E_NOERROR in constructor.

Detailed Description

This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.

Member Function Documentation

CartToJnt()

virtual int KDL::ChainFdSolver::CartToJnt ( const JntArray & q, const JntArray & q_dot, const JntArray & torques, const Wrenches & f_ext, JntArray & q_dotdot )

pure virtual

Calculate forward dynamics from joint positions, joint velocities, joint torques/forces, and externally applied forces/torques to joint accelerations.

Parameters

q	input joint positions
q_dot	input joint velocities
torque	input joint torques
f_ext	external forces
q_dotdot	output joint accelerations

Returns

if < 0 something went wrong

Implemented in KDL::ChainFdSolver_RNE.

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The documentation for this class was generated from the following file:

• build/orocos_kdl_install/include/kdl/chainfdsolver.hpp