InverseDynamics Class Reference

#include <invdyn.h>

Public Types
enum	Order {   UNDEFINED = -2, INVERSE_DYNAMICS = -1, POSITION = 0, VELOCITY = 1,   ACCELERATION = 2 }
enum	Type {   FULLY_ACTUATED = 0x01U, FULLY_DETERMINED = 0x02U, COLLOCATED = 0x04U, FULLY_ACTUATED_COLLOCATED = (FULLY_ACTUATED|FULLY_DETERMINED|COLLOCATED),   FULLY_ACTUATED_NON_COLLOCATED = (FULLY_ACTUATED|FULLY_DETERMINED), UNDERDETERMINED_UNDERACTUATED_COLLOCATED = (COLLOCATED), UNDERDETERMINED_FULLY_ACTUATED = (FULLY_ACTUATED), PRESCRIBED_MOTION = 0x10U,   TORQUE = 0x20U, ERGONOMY = 0x40U, RIGHT_HAND_SIDE = 0x80U }

Detailed Description

Definition at line 34 of file invdyn.h.

Member Enumeration Documentation

enum InverseDynamics::Order

Enumerator
UNDEFINED
INVERSE_DYNAMICS
POSITION
VELOCITY
ACCELERATION

Definition at line 36 of file invdyn.h.

                   {
                UNDEFINED = -2,
                INVERSE_DYNAMICS = -1,
                POSITION = 0,
                VELOCITY = 1,
                ACCELERATION = 2
        };

enum InverseDynamics::Type

Enumerator
FULLY_ACTUATED
FULLY_DETERMINED
COLLOCATED
FULLY_ACTUATED_COLLOCATED
FULLY_ACTUATED_NON_COLLOCATED
UNDERDETERMINED_UNDERACTUATED_COLLOCATED
UNDERDETERMINED_FULLY_ACTUATED
PRESCRIBED_MOTION
TORQUE
ERGONOMY
RIGHT_HAND_SIDE

Definition at line 44 of file invdyn.h.

                  {
                FULLY_ACTUATED = 0x01U,
                FULLY_DETERMINED = 0x02U,
                COLLOCATED = 0x04U,

                // fully actuated collocated
                FULLY_ACTUATED_COLLOCATED = (FULLY_ACTUATED|FULLY_DETERMINED|COLLOCATED),
                // fully actuated non collocated
                FULLY_ACTUATED_NON_COLLOCATED = (FULLY_ACTUATED|FULLY_DETERMINED),
                // underdetermined underactuated collocated
                UNDERDETERMINED_UNDERACTUATED_COLLOCATED = (COLLOCATED),
                // underdetermined fully actuated
                UNDERDETERMINED_FULLY_ACTUATED = (FULLY_ACTUATED),


                PRESCRIBED_MOTION = 0x10U,
                TORQUE = 0x20U,
                ERGONOMY = 0x40U,
                RIGHT_HAND_SIDE = 0x80U
        };

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

• invdyn.h