KDL
1.3.0
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Public Member Functions | |
segment_info (unsigned int nc) | |
Public Attributes | |
Frame | F |
Frame | F_base |
Twist | Z |
Twist | v |
Twist | acc |
Wrench | U |
Wrench | R |
Wrench | R_tilde |
Twist | C |
Twist | A |
ArticulatedBodyInertia | H |
ArticulatedBodyInertia | P |
ArticulatedBodyInertia | P_tilde |
Wrench | PZ |
Wrench | PC |
double | D |
Matrix6Xd | E |
Matrix6Xd | E_tilde |
Eigen::MatrixXd | M |
Eigen::VectorXd | G |
Eigen::VectorXd | EZ |
double | nullspaceAccComp |
double | constAccComp |
double | biasAccComp |
double | totalBias |
double | u |
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inline |
Twist KDL::ChainIdSolver_Vereshchagin::segment_info::A |
Referenced by KDL::ChainIdSolver_Vereshchagin::initial_upwards_sweep().
Twist KDL::ChainIdSolver_Vereshchagin::segment_info::acc |
Referenced by KDL::ChainIdSolver_Vereshchagin::final_upwards_sweep().
double KDL::ChainIdSolver_Vereshchagin::segment_info::biasAccComp |
Twist KDL::ChainIdSolver_Vereshchagin::segment_info::C |
double KDL::ChainIdSolver_Vereshchagin::segment_info::constAccComp |
Referenced by KDL::ChainIdSolver_Vereshchagin::final_upwards_sweep().
double KDL::ChainIdSolver_Vereshchagin::segment_info::D |
Matrix6Xd KDL::ChainIdSolver_Vereshchagin::segment_info::E |
Matrix6Xd KDL::ChainIdSolver_Vereshchagin::segment_info::E_tilde |
Referenced by KDL::ChainIdSolver_Vereshchagin::downwards_sweep().
Eigen::VectorXd KDL::ChainIdSolver_Vereshchagin::segment_info::EZ |
Referenced by KDL::ChainIdSolver_Vereshchagin::downwards_sweep().
Frame KDL::ChainIdSolver_Vereshchagin::segment_info::F |
Frame KDL::ChainIdSolver_Vereshchagin::segment_info::F_base |
Referenced by KDL::ChainIdSolver_Vereshchagin::initial_upwards_sweep().
Eigen::VectorXd KDL::ChainIdSolver_Vereshchagin::segment_info::G |
Referenced by KDL::ChainIdSolver_Vereshchagin::downwards_sweep().
ArticulatedBodyInertia KDL::ChainIdSolver_Vereshchagin::segment_info::H |
Eigen::MatrixXd KDL::ChainIdSolver_Vereshchagin::segment_info::M |
Referenced by KDL::ChainIdSolver_Vereshchagin::downwards_sweep().
double KDL::ChainIdSolver_Vereshchagin::segment_info::nullspaceAccComp |
Referenced by KDL::ChainIdSolver_Vereshchagin::final_upwards_sweep().
ArticulatedBodyInertia KDL::ChainIdSolver_Vereshchagin::segment_info::P |
ArticulatedBodyInertia KDL::ChainIdSolver_Vereshchagin::segment_info::P_tilde |
Referenced by KDL::ChainIdSolver_Vereshchagin::downwards_sweep().
Wrench KDL::ChainIdSolver_Vereshchagin::segment_info::PC |
Referenced by KDL::ChainIdSolver_Vereshchagin::downwards_sweep().
Wrench KDL::ChainIdSolver_Vereshchagin::segment_info::PZ |
Referenced by KDL::ChainIdSolver_Vereshchagin::downwards_sweep().
Wrench KDL::ChainIdSolver_Vereshchagin::segment_info::R |
Referenced by KDL::ChainIdSolver_Vereshchagin::downwards_sweep().
Wrench KDL::ChainIdSolver_Vereshchagin::segment_info::R_tilde |
Referenced by KDL::ChainIdSolver_Vereshchagin::downwards_sweep().
double KDL::ChainIdSolver_Vereshchagin::segment_info::totalBias |
Referenced by KDL::ChainIdSolver_Vereshchagin::downwards_sweep().
Wrench KDL::ChainIdSolver_Vereshchagin::segment_info::U |
double KDL::ChainIdSolver_Vereshchagin::segment_info::u |
Twist KDL::ChainIdSolver_Vereshchagin::segment_info::v |
Referenced by KDL::ChainIdSolver_Vereshchagin::initial_upwards_sweep().
Twist KDL::ChainIdSolver_Vereshchagin::segment_info::Z |