Physsim::RNEAlgorithm Class Reference

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

#include <RNEAlgorithm.h>

Inheritance diagram for Physsim::RNEAlgorithm:

List of all members.

Public Member Functions
std::map< JointPtr, VectorN >	calc_inv_dyn (RCArticulatedBodyPtr body, const std::map< RigidBodyPtr, RCArticulatedBodyInvDynData > &inv_dyn_data)
	Executes the Recursive Newton-Euler algorithm for inverse dynamics.

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Detailed Description

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

Algorithm taken from Featherstone, 1987.

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Member Function Documentation

std::map< JointPtr, VectorN > RNEAlgorithm::calc_inv_dyn	(	RCArticulatedBodyPtr	body,
		const std::map< RigidBodyPtr, RCArticulatedBodyInvDynData > &	inv_dyn_data
	)

Executes the Recursive Newton-Euler algorithm for inverse dynamics.

Computed joint actuator forces are stored in inv_dyn_data.

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

• /home/drumwrig/Physsim/include/Physsim/RNEAlgorithm.h
• /home/drumwrig/Physsim/src/RNEAlgorithm.cpp

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