KDL 1.5.1
Loading...
Searching...
No Matches
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

Member Data Documentation

◆ A

Twist KDL::ChainHdSolver_Vereshchagin::segment_info::A

◆ acc

Twist KDL::ChainHdSolver_Vereshchagin::segment_info::acc

◆ biasAccComp

double KDL::ChainHdSolver_Vereshchagin::segment_info::biasAccComp

◆ C

◆ constAccComp

double KDL::ChainHdSolver_Vereshchagin::segment_info::constAccComp

◆ D

double KDL::ChainHdSolver_Vereshchagin::segment_info::D

◆ E

◆ E_tilde

Matrix6Xd KDL::ChainHdSolver_Vereshchagin::segment_info::E_tilde

◆ EZ

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

◆ F

◆ F_base

Frame KDL::ChainHdSolver_Vereshchagin::segment_info::F_base

◆ G

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

◆ H

◆ M

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

◆ nullspaceAccComp

double KDL::ChainHdSolver_Vereshchagin::segment_info::nullspaceAccComp

◆ P

◆ P_tilde

ArticulatedBodyInertia KDL::ChainHdSolver_Vereshchagin::segment_info::P_tilde

◆ PC

Wrench KDL::ChainHdSolver_Vereshchagin::segment_info::PC

◆ PZ

Wrench KDL::ChainHdSolver_Vereshchagin::segment_info::PZ

◆ R

Wrench KDL::ChainHdSolver_Vereshchagin::segment_info::R

◆ R_tilde

Wrench KDL::ChainHdSolver_Vereshchagin::segment_info::R_tilde

◆ totalBias

double KDL::ChainHdSolver_Vereshchagin::segment_info::totalBias

◆ U

◆ u

double KDL::ChainHdSolver_Vereshchagin::segment_info::u

◆ v

Twist KDL::ChainHdSolver_Vereshchagin::segment_info::v

◆ Z


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