RneaArm Struct Reference

Public Member Functions
	RneaArm (mj_kdl::Robot &r, double gravity_z)
bool	control (const KDL::JntArray &q_des)

Public Attributes
mj_kdl::Robot &	robot
unsigned	n
KDL::ChainIdSolver_RNE	rnea
KDL::ChainDynParam	dyn
KDL::JntArray	q
KDL::JntArray	qdot
KDL::JntArray	qddot
KDL::JntArray	tau
KDL::Wrenches	f_ext

Detailed Description

Definition at line 109 of file ex_rnea_pick_place.cpp.

Constructor & Destructor Documentation

RneaArm()

RneaArm::RneaArm ( mj_kdl::Robot & r, double gravity_z )

inline

Definition at line 111 of file ex_rnea_pick_place.cpp.

References dyn, f_ext, n, q, qddot, qdot, rnea, robot, and tau.

Member Function Documentation

control()

bool RneaArm::control ( const KDL::JntArray & q_des )

inline

Definition at line 117 of file ex_rnea_pick_place.cpp.

References f_ext, n, q, qddot, qdot, mj_kdl_examples::read_q(), rnea, robot, and tau.

Member Data Documentation

dyn

KDL::ChainDynParam RneaArm::dyn

Definition at line 129 of file ex_rnea_pick_place.cpp.

Referenced by RneaArm().

f_ext

KDL::Wrenches RneaArm::f_ext

Definition at line 131 of file ex_rnea_pick_place.cpp.

Referenced by control(), and RneaArm().

n

unsigned RneaArm::n

Definition at line 127 of file ex_rnea_pick_place.cpp.

Referenced by control(), and RneaArm().

q

KDL::JntArray RneaArm::q

Definition at line 130 of file ex_rnea_pick_place.cpp.

Referenced by control(), and RneaArm().

qddot

KDL::JntArray RneaArm::qddot

Definition at line 130 of file ex_rnea_pick_place.cpp.

Referenced by control(), and RneaArm().

qdot

KDL::JntArray RneaArm::qdot

Definition at line 130 of file ex_rnea_pick_place.cpp.

Referenced by control(), and RneaArm().

rnea

KDL::ChainIdSolver_RNE RneaArm::rnea

Definition at line 128 of file ex_rnea_pick_place.cpp.

Referenced by control(), and RneaArm().

robot

mj_kdl::Robot& RneaArm::robot

Definition at line 126 of file ex_rnea_pick_place.cpp.

Referenced by control(), and RneaArm().

tau

KDL::JntArray RneaArm::tau

Definition at line 130 of file ex_rnea_pick_place.cpp.

Referenced by control(), and RneaArm().

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

• src/examples/ex_rnea_pick_place.cpp