22#ifndef KDL_CHAIN_FDSOLVER_RECURSIVE_NEWTON_EULER_HPP
23#define KDL_CHAIN_FDSOLVER_RECURSIVE_NEWTON_EULER_HPP
100 JntSpaceInertiaMatrix
H;
Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) for t...
Definition chaindynparam.hpp:48
Recursive newton euler forward dynamics solver.
Definition chainfdsolver_recursive_newton_euler.hpp:42
int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &torques, const Wrenches &f_ext, JntArray &q_dotdot)
Function to calculate from Cartesian forces to joint torques.
Definition chainfdsolver_recursive_newton_euler.cpp:51
JntArray Tzeroacc
Definition chainfdsolver_recursive_newton_euler.hpp:101
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition chainfdsolver_recursive_newton_euler.cpp:46
JntSpaceInertiaMatrix H
Definition chainfdsolver_recursive_newton_euler.hpp:100
const Chain & chain
Definition chainfdsolver_recursive_newton_euler.hpp:95
Eigen::VectorXd Tzeroacc_eig
Definition chainfdsolver_recursive_newton_euler.hpp:103
unsigned int nj
Definition chainfdsolver_recursive_newton_euler.hpp:98
ChainDynParam DynSolver
Definition chainfdsolver_recursive_newton_euler.hpp:96
Eigen::VectorXd D_eig
Definition chainfdsolver_recursive_newton_euler.hpp:105
void RK4Integrator(unsigned int &nj, const double &t, double &dt, KDL::JntArray &q, KDL::JntArray &q_dot, KDL::JntArray &torques, KDL::Wrenches &f_ext, KDL::ChainFdSolver_RNE &fdsolver, KDL::JntArray &q_dotdot, KDL::JntArray &dq, KDL::JntArray &dq_dot, KDL::JntArray &q_temp, KDL::JntArray &q_dot_temp)
Function to integrate the joint accelerations resulting from the forward dynamics solver.
Definition chainfdsolver_recursive_newton_euler.cpp:95
unsigned int ns
Definition chainfdsolver_recursive_newton_euler.hpp:99
Eigen::VectorXd acc_eig
Definition chainfdsolver_recursive_newton_euler.hpp:107
ChainIdSolver_RNE IdSolver
Definition chainfdsolver_recursive_newton_euler.hpp:97
Eigen::MatrixXd L_eig
Definition chainfdsolver_recursive_newton_euler.hpp:104
~ChainFdSolver_RNE()
Definition chainfdsolver_recursive_newton_euler.hpp:50
Eigen::VectorXd r_eig
Definition chainfdsolver_recursive_newton_euler.hpp:106
Eigen::MatrixXd H_eig
Definition chainfdsolver_recursive_newton_euler.hpp:102
This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.
Definition chainfdsolver.hpp:42
Recursive newton euler inverse dynamics solver.
Definition chainidsolver_recursive_newton_euler.hpp:40
Definition jntarray.hpp:70
A concrete implementation of a 3 dimensional vector class.
Definition frames.hpp:161
Definition articulatedbodyinertia.cpp:26
std::vector< Wrench > Wrenches
Definition chainfdsolver.hpp:34