22 #ifndef KDLCHAINDYNPARAM_HPP
23 #define KDLCHAINDYNPARAM_HPP
70 std::vector<ArticulatedBodyInertia>
Ic;
JntArray jntarraynull
Definition: chaindynparam.hpp:63
virtual ~ChainDynParam()
Definition: chaindynparam.cpp:134
Vector vectornull
Definition: chaindynparam.hpp:62
This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
const Chain chain
Definition: chaindynparam.hpp:57
int nr
Definition: chaindynparam.hpp:58
Twist ag
Definition: chaindynparam.hpp:72
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
Wrench F
Definition: chaindynparam.hpp:71
std::vector< Wrench > wrenchnull
Definition: chaindynparam.hpp:66
std::vector< ArticulatedBodyInertia > Ic
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:59
Vector grav
Definition: chaindynparam.hpp:61
unsigned int ns
Definition: chaindynparam.hpp:60
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:110
std::vector< Twist > S
Definition: chaindynparam.hpp:68
ChainIdSolver_RNE chainidsolver_gravity
Definition: chaindynparam.hpp:65
std::vector< Frame > X
Definition: chaindynparam.hpp:67
Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) for t...
Definition: chaindynparam.hpp:46
represents both translational and rotational acceleration.
Definition: frames.hpp:878
virtual int JntToMass(const JntArray &q, JntSpaceInertiaMatrix &H)
Definition: chaindynparam.cpp:46
ChainIdSolver_RNE chainidsolver_coriolis
Definition: chaindynparam.hpp:64
virtual int JntToGravity(const JntArray &q, JntArray &gravity)
Definition: chaindynparam.cpp:123