Ravelin::RNE_ALGORITHM Class Reference

Implementation of the Recursive Newton-Euler algorithm for inverse dynamics. More...

#include <RNEAlgorithmd.h>

Public Member Functions
std::map< boost::shared_ptr < JOINT >, VECTORN >	calc_inv_dyn (boost::shared_ptr< RC_ARTICULATED_BODY > body, const std::map< boost::shared_ptr< RIGIDBODY >, RCArticulatedBodyInvDynData > &inv_dyn_data)
void	calc_constraint_forces (boost::shared_ptr< RC_ARTICULATED_BODY > body)
std::map< boost::shared_ptr < JOINT >, VECTORN >	calc_inv_dyn (boost::shared_ptr< RC_ARTICULATED_BODY > body, const std::map< boost::shared_ptr< RIGIDBODY >, RCArticulatedBodyInvDynData > &inv_dyn_data)
void	calc_constraint_forces (boost::shared_ptr< RC_ARTICULATED_BODY > body)

Detailed Description

Implementation of the Recursive Newton-Euler algorithm for inverse dynamics.

Algorithm taken from Featherstone, 1987.

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The documentation for this class was generated from the following files:

• /home/drum/Ravelin.new/include/Ravelin/RNEAlgorithmd.h
• /home/drum/Ravelin.new/include/Ravelin/RNEAlgorithmf.h