/usr/include/kdl/chainidsolver.hpp is in liborocos-kdl-dev 1.3.0+dfsg-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 | // Copyright (C) 2009 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// Lesser General Public License for more details.
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#ifndef KDL_CHAIN_IDSOLVER_HPP
#define KDL_CHAIN_IDSOLVER_HPP
#include "chain.hpp"
#include "frames.hpp"
#include "jntarray.hpp"
namespace KDL
{
typedef std::vector<Wrench> Wrenches;
/**
* \brief This <strong>abstract</strong> class encapsulates the inverse
* dynamics solver for a KDL::Chain.
*
*/
class ChainIdSolver
{
public:
/**
* Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces
* to joint torques/forces.
*
* @param q input joint positions
* @param q_dot input joint velocities
* @param q_dotdot input joint accelerations
*
* @param torque output joint torques
*
* @return if < 0 something went wrong
*/
virtual int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches& f_ext,JntArray &torques)=0;
// Need functions to return the manipulator mass, coriolis and gravity matrices - Lagrangian Formulation.
};
}
#endif
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