KDL::ChainHdSolver_Vereshchagin::segment_info Struct Reference

Collaboration diagram for KDL::ChainHdSolver_Vereshchagin::segment_info:

Public Member Functions
	segment_info (unsigned int nc)

Public Attributes
Frame	F
Frame	F_base
Twist	Z
Twist	v
Twist	acc
Wrench	U
Wrench	R
Wrench	R_tilde
Twist	C
Twist	A
ArticulatedBodyInertia	H
ArticulatedBodyInertia	P
ArticulatedBodyInertia	P_tilde
Wrench	PZ
Wrench	PC
double	D
Matrix6Xd	E
Matrix6Xd	E_tilde
Eigen::MatrixXd	M
Eigen::VectorXd	G
Eigen::VectorXd	EZ
double	nullspaceAccComp
double	constAccComp
double	biasAccComp
double	totalBias
double	u

Constructor & Destructor Documentation

segment_info()

KDL::ChainHdSolver_Vereshchagin::segment_info::segment_info ( unsigned int nc )

inline

References biasAccComp, constAccComp, D, E, E_tilde, EZ, G, M, KDL::ChainHdSolver_Vereshchagin::nc, nullspaceAccComp, totalBias, and u.

Member Data Documentation

A

Twist KDL::ChainHdSolver_Vereshchagin::segment_info::A

Referenced by KDL::ChainHdSolver_Vereshchagin::initial_upwards_sweep().

acc

Twist KDL::ChainHdSolver_Vereshchagin::segment_info::acc

Referenced by KDL::ChainHdSolver_Vereshchagin::final_upwards_sweep().

biasAccComp

double KDL::ChainHdSolver_Vereshchagin::segment_info::biasAccComp

Referenced by segment_info().

C

Twist KDL::ChainHdSolver_Vereshchagin::segment_info::C

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), KDL::ChainHdSolver_Vereshchagin::final_upwards_sweep(), and KDL::ChainHdSolver_Vereshchagin::initial_upwards_sweep().

constAccComp

double KDL::ChainHdSolver_Vereshchagin::segment_info::constAccComp

Referenced by KDL::ChainHdSolver_Vereshchagin::final_upwards_sweep(), and segment_info().

D

double KDL::ChainHdSolver_Vereshchagin::segment_info::D

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), KDL::ChainHdSolver_Vereshchagin::final_upwards_sweep(), and segment_info().

E

Matrix6Xd KDL::ChainHdSolver_Vereshchagin::segment_info::E

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), KDL::ChainHdSolver_Vereshchagin::final_upwards_sweep(), and segment_info().

E_tilde

Matrix6Xd KDL::ChainHdSolver_Vereshchagin::segment_info::E_tilde

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), and segment_info().

EZ

Eigen::VectorXd KDL::ChainHdSolver_Vereshchagin::segment_info::EZ

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), and segment_info().

F

Frame KDL::ChainHdSolver_Vereshchagin::segment_info::F

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), KDL::ChainHdSolver_Vereshchagin::final_upwards_sweep(), and KDL::ChainHdSolver_Vereshchagin::initial_upwards_sweep().

F_base

Frame KDL::ChainHdSolver_Vereshchagin::segment_info::F_base

Referenced by KDL::ChainHdSolver_Vereshchagin::initial_upwards_sweep().

G

Eigen::VectorXd KDL::ChainHdSolver_Vereshchagin::segment_info::G

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), and segment_info().

H

ArticulatedBodyInertia KDL::ChainHdSolver_Vereshchagin::segment_info::H

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), and KDL::ChainHdSolver_Vereshchagin::initial_upwards_sweep().

M

Eigen::MatrixXd KDL::ChainHdSolver_Vereshchagin::segment_info::M

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), and segment_info().

nullspaceAccComp

double KDL::ChainHdSolver_Vereshchagin::segment_info::nullspaceAccComp

Referenced by KDL::ChainHdSolver_Vereshchagin::final_upwards_sweep(), and segment_info().

P

ArticulatedBodyInertia KDL::ChainHdSolver_Vereshchagin::segment_info::P

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), and KDL::ChainHdSolver_Vereshchagin::final_upwards_sweep().

P_tilde

ArticulatedBodyInertia KDL::ChainHdSolver_Vereshchagin::segment_info::P_tilde

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep().

PC

Wrench KDL::ChainHdSolver_Vereshchagin::segment_info::PC

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep().

PZ

Wrench KDL::ChainHdSolver_Vereshchagin::segment_info::PZ

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep().

R

Wrench KDL::ChainHdSolver_Vereshchagin::segment_info::R

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep().

R_tilde

Wrench KDL::ChainHdSolver_Vereshchagin::segment_info::R_tilde

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep().

totalBias

double KDL::ChainHdSolver_Vereshchagin::segment_info::totalBias

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), and segment_info().

U

Wrench KDL::ChainHdSolver_Vereshchagin::segment_info::U

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), and KDL::ChainHdSolver_Vereshchagin::initial_upwards_sweep().

u

double KDL::ChainHdSolver_Vereshchagin::segment_info::u

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), KDL::ChainHdSolver_Vereshchagin::final_upwards_sweep(), and segment_info().

v

Twist KDL::ChainHdSolver_Vereshchagin::segment_info::v

Referenced by KDL::ChainHdSolver_Vereshchagin::initial_upwards_sweep().

Z

Twist KDL::ChainHdSolver_Vereshchagin::segment_info::Z

Referenced by KDL::ChainHdSolver_Vereshchagin::downwards_sweep(), KDL::ChainHdSolver_Vereshchagin::final_upwards_sweep(), and KDL::ChainHdSolver_Vereshchagin::initial_upwards_sweep().

---

The documentation for this struct was generated from the following file:

• src/chainhdsolver_vereshchagin.hpp