KDL 1.5.1
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chainfdsolver.hpp
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1// Copyright (C) 2018 Ruben Smits <ruben dot smits at intermodalics dot be>
2
3// Version: 1.0
4// Author: Ruben Smits <ruben dot smits at intermodalics dot be>
5// Author: Craig Carignan <craigc at ssl dot umd dot edu>
6// Maintainer: Ruben Smits <ruben dot smits at intermodalics dot be>
7// URL: http://www.orocos.org/kdl
8
9// This library is free software; you can redistribute it and/or
10// modify it under the terms of the GNU Lesser General Public
11// License as published by the Free Software Foundation; either
12// version 2.1 of the License, or (at your option) any later version.
13
14// This library is distributed in the hope that it will be useful,
15// but WITHOUT ANY WARRANTY; without even the implied warranty of
16// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17// Lesser General Public License for more details.
18
19// You should have received a copy of the GNU Lesser General Public
20// License along with this library; if not, write to the Free Software
21// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
22
23#ifndef KDL_CHAIN_FDSOLVER_HPP
24#define KDL_CHAIN_FDSOLVER_HPP
25
26#include "chain.hpp"
27#include "frames.hpp"
28#include "jntarray.hpp"
29#include "solveri.hpp"
30
31namespace KDL
32{
33
34 typedef std::vector<Wrench> Wrenches;
35
42 {
43 public:
57 virtual int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &torques, const Wrenches& f_ext,JntArray &q_dotdot)=0;
58 };
59
60}
61
62#endif
This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.
Definition chainfdsolver.hpp:42
virtual int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &torques, const Wrenches &f_ext, JntArray &q_dotdot)=0
Definition jntarray.hpp:70
Solver interface supporting storage and description of the latest error.
Definition solveri.hpp:85
Definition articulatedbodyinertia.cpp:26
std::vector< Wrench > Wrenches
Definition chainfdsolver.hpp:34