KDL
1.3.0
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This abstract class encapsulates the inverse dynamics solver for a KDL::Chain. More...
#include <src/chainidsolver.hpp>
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... | |
This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.
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pure virtual |
Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces to joint torques/forces.
q | input joint positions |
q_dot | input joint velocities |
q_dotdot | input joint accelerations |
torque | output joint torques |
Implemented in KDL::ChainIdSolver_RNE.