22 #ifndef KDLCHAINDYNPARAM_HPP 23 #define KDLCHAINDYNPARAM_HPP 28 #include <Eigen/StdVector> 74 std::vector<ArticulatedBodyInertia, Eigen::aligned_allocator<ArticulatedBodyInertia> >
Ic;
JntArray jntarraynull
Definition: chaindynparam.hpp:67
std::vector< ArticulatedBodyInertia, Eigen::aligned_allocator< ArticulatedBodyInertia > > Ic
Definition: chaindynparam.hpp:74
virtual ~ChainDynParam()
Definition: chaindynparam.cpp:147
Vector vectornull
Definition: chaindynparam.hpp:66
This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
int nr
Definition: chaindynparam.hpp:62
Twist ag
Definition: chaindynparam.hpp:76
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
Solver interface supporting storage and description of the latest error.
Definition: solveri.hpp:84
Wrench F
Definition: chaindynparam.hpp:75
std::vector< Wrench > wrenchnull
Definition: chaindynparam.hpp:70
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:28
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
unsigned int nj
Definition: chaindynparam.hpp:63
Vector grav
Definition: chaindynparam.hpp:65
unsigned int ns
Definition: chaindynparam.hpp:64
ChainDynParam(const Chain &chain, Vector _grav)
Definition: chaindynparam.cpp:28
Recursive newton euler inverse dynamics solver.
Definition: chainidsolver_recursive_newton_euler.hpp:40
virtual int JntToCoriolis(const JntArray &q, const JntArray &q_dot, JntArray &coriolis)
Definition: chaindynparam.cpp:125
std::vector< Twist > S
Definition: chaindynparam.hpp:72
ChainIdSolver_RNE chainidsolver_gravity
Definition: chaindynparam.hpp:69
std::vector< Frame > X
Definition: chaindynparam.hpp:71
Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) for t...
Definition: chaindynparam.hpp:47
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chaindynparam.cpp:45
represents both translational and rotational acceleration.
Definition: frames.hpp:878
const Chain & chain
Definition: chaindynparam.hpp:61
virtual int JntToMass(const JntArray &q, JntSpaceInertiaMatrix &H)
Definition: chaindynparam.cpp:59
ChainIdSolver_RNE chainidsolver_coriolis
Definition: chaindynparam.hpp:68
virtual int JntToGravity(const JntArray &q, JntArray &gravity)
Definition: chaindynparam.cpp:137