KDL  1.3.0
Public Member Functions | List of all members
KDL::ChainIdSolver Class Referenceabstract

This abstract class encapsulates the inverse dynamics solver for a KDL::Chain. More...

#include <src/chainidsolver.hpp>

Inheritance diagram for KDL::ChainIdSolver:
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Public Member Functions

virtual int CartToJnt (const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext, JntArray &torques)=0
 Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces to joint torques/forces. More...
 

Detailed Description

This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.

Member Function Documentation

virtual int KDL::ChainIdSolver::CartToJnt ( const JntArray q,
const JntArray q_dot,
const JntArray q_dotdot,
const Wrenches f_ext,
JntArray torques 
)
pure virtual

Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces to joint torques/forces.

Parameters
qinput joint positions
q_dotinput joint velocities
q_dotdotinput joint accelerations
torqueoutput joint torques
Returns
if < 0 something went wrong

Implemented in KDL::ChainIdSolver_RNE.


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