22 #ifndef KDL_CHAIN_FDSOLVER_RECURSIVE_NEWTON_EULER_HPP 23 #define KDL_CHAIN_FDSOLVER_RECURSIVE_NEWTON_EULER_HPP 100 JntSpaceInertiaMatrix
H;
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
ChainDynParam DynSolver
Definition: chainfdsolver_recursive_newton_euler.hpp:96
This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
JntSpaceInertiaMatrix H
Definition: chainfdsolver_recursive_newton_euler.hpp:100
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
Eigen::MatrixXd L_eig
Definition: chainfdsolver_recursive_newton_euler.hpp:104
Eigen::VectorXd Tzeroacc_eig
Definition: chainfdsolver_recursive_newton_euler.hpp:103
const Chain & chain
Definition: chainfdsolver_recursive_newton_euler.hpp:95
Recursive newton euler forward dynamics solver.
Definition: chainfdsolver_recursive_newton_euler.hpp:42
~ChainFdSolver_RNE()
Definition: chainfdsolver_recursive_newton_euler.hpp:50
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
unsigned int ns
Definition: chainfdsolver_recursive_newton_euler.hpp:99
Eigen::VectorXd r_eig
Definition: chainfdsolver_recursive_newton_euler.hpp:106
Eigen::VectorXd acc_eig
Definition: chainfdsolver_recursive_newton_euler.hpp:107
ChainFdSolver_RNE(const Chain &chain, Vector grav)
Constructor for the solver, it will allocate all the necessary memory.
Definition: chainfdsolver_recursive_newton_euler.cpp:29
Definition: articulatedbodyinertia.cpp:26
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
Recursive newton euler inverse dynamics solver.
Definition: chainidsolver_recursive_newton_euler.hpp:40
JntArray Tzeroacc
Definition: chainfdsolver_recursive_newton_euler.hpp:101
unsigned int nj
Definition: chainfdsolver_recursive_newton_euler.hpp:98
std::vector< Wrench > Wrenches
Definition: chainfdsolver.hpp:34
ChainIdSolver_RNE IdSolver
Definition: chainfdsolver_recursive_newton_euler.hpp:97
Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) for t...
Definition: chaindynparam.hpp:47
This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.
Definition: chainfdsolver.hpp:41
Eigen::VectorXd D_eig
Definition: chainfdsolver_recursive_newton_euler.hpp:105
Eigen::MatrixXd H_eig
Definition: chainfdsolver_recursive_newton_euler.hpp:102
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainfdsolver_recursive_newton_euler.cpp:46