KDL::ChainIdSolver_Vereshchagin::segment_info Struct Reference

Collaboration diagram for KDL::ChainIdSolver_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

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

inline

Member Data Documentation

Twist KDL::ChainIdSolver_Vereshchagin::segment_info::A

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

Twist KDL::ChainIdSolver_Vereshchagin::segment_info::acc

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

double KDL::ChainIdSolver_Vereshchagin::segment_info::biasAccComp

Twist KDL::ChainIdSolver_Vereshchagin::segment_info::C

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

double KDL::ChainIdSolver_Vereshchagin::segment_info::constAccComp

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

double KDL::ChainIdSolver_Vereshchagin::segment_info::D

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

Matrix6Xd KDL::ChainIdSolver_Vereshchagin::segment_info::E

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

Matrix6Xd KDL::ChainIdSolver_Vereshchagin::segment_info::E_tilde

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

Eigen::VectorXd KDL::ChainIdSolver_Vereshchagin::segment_info::EZ

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

Frame KDL::ChainIdSolver_Vereshchagin::segment_info::F

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

Frame KDL::ChainIdSolver_Vereshchagin::segment_info::F_base

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

Eigen::VectorXd KDL::ChainIdSolver_Vereshchagin::segment_info::G

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

ArticulatedBodyInertia KDL::ChainIdSolver_Vereshchagin::segment_info::H

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

Eigen::MatrixXd KDL::ChainIdSolver_Vereshchagin::segment_info::M

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

double KDL::ChainIdSolver_Vereshchagin::segment_info::nullspaceAccComp

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

ArticulatedBodyInertia KDL::ChainIdSolver_Vereshchagin::segment_info::P

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

ArticulatedBodyInertia KDL::ChainIdSolver_Vereshchagin::segment_info::P_tilde

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

Wrench KDL::ChainIdSolver_Vereshchagin::segment_info::PC

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

Wrench KDL::ChainIdSolver_Vereshchagin::segment_info::PZ

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

Wrench KDL::ChainIdSolver_Vereshchagin::segment_info::R

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

Wrench KDL::ChainIdSolver_Vereshchagin::segment_info::R_tilde

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

double KDL::ChainIdSolver_Vereshchagin::segment_info::totalBias

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

Wrench KDL::ChainIdSolver_Vereshchagin::segment_info::U

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

double KDL::ChainIdSolver_Vereshchagin::segment_info::u

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

Twist KDL::ChainIdSolver_Vereshchagin::segment_info::v

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

Twist KDL::ChainIdSolver_Vereshchagin::segment_info::Z

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

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

• src/chainidsolver_vereshchagin.hpp