22#ifndef KDL_TREE_IDSOLVER_RECURSIVE_NEWTON_EULER_HPP
23#define KDL_TREE_IDSOLVER_RECURSIVE_NEWTON_EULER_HPP
75 std::map<std::string,Frame>
X;
76 std::map<std::string,Twist>
S;
77 std::map<std::string,Twist>
v;
78 std::map<std::string,Twist>
a;
79 std::map<std::string,Wrench>
f;
Definition: jntarray.hpp:70
Recursive newton euler inverse dynamics solver for kinematic trees.
Definition: treeidsolver_recursive_newton_euler.hpp:41
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: treeidsolver_recursive_newton_euler.cpp:35
TreeIdSolver_RNE(const Tree &tree, Vector grav)
Constructor for the solver, it will allocate all the necessary memory.
Definition: treeidsolver_recursive_newton_euler.cpp:28
unsigned int nj
Definition: treeidsolver_recursive_newton_euler.hpp:73
std::map< std::string, Frame > X
Definition: treeidsolver_recursive_newton_euler.hpp:75
std::map< std::string, Twist > a
Definition: treeidsolver_recursive_newton_euler.hpp:78
std::map< std::string, Wrench > f
Definition: treeidsolver_recursive_newton_euler.hpp:79
void rne_step(SegmentMap::const_iterator segment, const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap &f_ext, JntArray &torques)
One recursion step.
Definition: treeidsolver_recursive_newton_euler.cpp:78
Twist ag
Definition: treeidsolver_recursive_newton_euler.hpp:80
std::map< std::string, Twist > S
Definition: treeidsolver_recursive_newton_euler.hpp:76
int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap &f_ext, JntArray &torques)
Function to calculate from Cartesian forces to joint torques.
Definition: treeidsolver_recursive_newton_euler.cpp:52
unsigned int ns
Definition: treeidsolver_recursive_newton_euler.hpp:74
std::map< std::string, Twist > v
Definition: treeidsolver_recursive_newton_euler.hpp:77
void initAuxVariables()
Helper function to initialize private members X, S, v, a, f.
Definition: treeidsolver_recursive_newton_euler.cpp:41
const Tree & tree
Definition: treeidsolver_recursive_newton_euler.hpp:72
This abstract class encapsulates the inverse dynamics solver for a KDL::Tree.
Definition: treeidsolver.hpp:41
This class encapsulates a tree kinematic interconnection structure.
Definition: tree.hpp:100
represents both translational and rotational velocities.
Definition: frames.hpp:720
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:161
Definition: articulatedbodyinertia.cpp:26
std::map< std::string, Wrench > WrenchMap
Definition: treeidsolver.hpp:33