22#ifndef KDLCHAINDYNPARAM_HPP
23#define KDLCHAINDYNPARAM_HPP
28#include <Eigen/StdVector>
74 std::vector<ArticulatedBodyInertia, Eigen::aligned_allocator<ArticulatedBodyInertia> >
Ic;
Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) for t...
Definition chaindynparam.hpp:48
ChainIdSolver_RNE chainidsolver_coriolis
Definition chaindynparam.hpp:68
unsigned int nj
Definition chaindynparam.hpp:63
std::vector< Twist > S
Definition chaindynparam.hpp:72
const Chain & chain
Definition chaindynparam.hpp:61
Wrench F
Definition chaindynparam.hpp:75
Vector grav
Definition chaindynparam.hpp:65
virtual int JntToMass(const JntArray &q, JntSpaceInertiaMatrix &H)
Definition chaindynparam.cpp:60
virtual int JntToCoriolis(const JntArray &q, const JntArray &q_dot, JntArray &coriolis)
Definition chaindynparam.cpp:127
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition chaindynparam.cpp:46
unsigned int ns
Definition chaindynparam.hpp:64
Twist ag
Definition chaindynparam.hpp:76
std::vector< ArticulatedBodyInertia, Eigen::aligned_allocator< ArticulatedBodyInertia > > Ic
Definition chaindynparam.hpp:74
virtual ~ChainDynParam()
Definition chaindynparam.cpp:149
int nr
Definition chaindynparam.hpp:62
Vector vectornull
Definition chaindynparam.hpp:66
ChainIdSolver_RNE chainidsolver_gravity
Definition chaindynparam.hpp:69
std::vector< Frame > X
Definition chaindynparam.hpp:71
JntArray jntarraynull
Definition chaindynparam.hpp:67
std::vector< Wrench > wrenchnull
Definition chaindynparam.hpp:70
virtual int JntToGravity(const JntArray &q, JntArray &gravity)
Definition chaindynparam.cpp:139
Recursive newton euler inverse dynamics solver.
Definition chainidsolver_recursive_newton_euler.hpp:40
Definition jntarray.hpp:70
Solver interface supporting storage and description of the latest error.
Definition solveri.hpp:85
represents both translational and rotational velocities.
Definition frames.hpp:720
A concrete implementation of a 3 dimensional vector class.
Definition frames.hpp:161
represents both translational and rotational acceleration.
Definition frames.hpp:879
Definition articulatedbodyinertia.cpp:26