提交依赖与构建产物

kdl_install/include/kdl/treeidsolver.hpp

@@ -0,0 +1,62 @@
+// Copyright  (C)  2009  Ruben Smits <ruben dot smits at intermodalics dot eu>
+
+// Version: 1.0
+// Author: Franco Fusco <franco dot fusco at ls2n dot fr>
+// Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
+// 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_TREE_IDSOLVER_HPP
+#define KDL_TREE_IDSOLVER_HPP
+
+#include "tree.hpp"
+#include "frames.hpp"
+#include "jntarray.hpp"
+#include "solveri.hpp"
+
+namespace KDL
+{
+
+  typedef std::map<std::string,Wrench> WrenchMap;
+
+	/**
+	 * \brief This <strong>abstract</strong> class encapsulates the inverse
+	 * dynamics solver for a KDL::Tree.
+	 *
+	 */
+	class TreeIdSolver : public KDL::SolverI
+	{
+		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 f_ext the external forces (no gravity) on the segments
+			 * @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 WrenchMap& f_ext,JntArray &torques)=0;
+
+        // Need functions to return the manipulator mass, coriolis and gravity matrices - Lagrangian Formulation.
+	};
+
+}
+
+#endif