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

Inheritance diagram for KDL::TreeIdSolver:

Public Member Functions
virtual int	CartToJnt (const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap &f_ext, JntArray &torques)=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::Tree.

Member Function Documentation

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

pure virtual

Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces to joint torques/forces.

Parameters

q	input joint positions
q_dot	input joint velocities
q_dotdot	input joint accelerations
f_ext	the external forces (no gravity) on the segments
torque	output joint torques

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