KDL 1.5.1
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chainidsolver_vereshchagin.hpp
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1// Copyright (C) 2009 Ruben Smits <ruben dot smits at intermodalics dot eu>
2
3// Version: 1.0
4// Author: Ruben Smits <ruben dot smits at intermodalics dot eu>
5// Author: Herman Bruyninckx
6// Author: Azamat Shakhimardanov
7// Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
8// URL: http://www.orocos.org/kdl
9
10// This library is free software; you can redistribute it and/or
11// modify it under the terms of the GNU Lesser General Public
12// License as published by the Free Software Foundation; either
13// version 2.1 of the License, or (at your option) any later version.
14
15// This library is distributed in the hope that it will be useful,
16// but WITHOUT ANY WARRANTY; without even the implied warranty of
17// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
18// Lesser General Public License for more details.
19
20// You should have received a copy of the GNU Lesser General Public
21// License along with this library; if not, write to the Free Software
22// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
23
24#ifndef KDL_CHAINIDSOLVER_VERESHCHAGIN_HPP
25#define KDL_CHAINIDSOLVER_VERESHCHAGIN_HPP
26
28
29namespace KDL
30{
31
33{
34public:
35 ChainIdSolver_Vereshchagin(const Chain& chain, const Twist &root_acc, const unsigned int nc);
36};
37
38}
39
40#endif // KDL_CHAINIDSOLVER_VERESHCHAGIN_HPP
Abstract: Acceleration constrained hybrid dynamics calculations for a chain, based on Vereshchagin 19...
Definition chainhdsolver_vereshchagin.hpp:367
const Chain & chain
Definition chainhdsolver_vereshchagin.hpp:466
unsigned int nc
Definition chainhdsolver_vereshchagin.hpp:469
Definition chainidsolver_vereshchagin.hpp:33
ChainIdSolver_Vereshchagin(const Chain &chain, const Twist &root_acc, const unsigned int nc)
Definition chainidsolver_vereshchagin.cpp:31
Definition chain.hpp:35
represents both translational and rotational velocities.
Definition frames.hpp:720
Definition articulatedbodyinertia.cpp:26