Class InverseDynamicsSolverFrankaInria

Defined in File franka_inria_inverse_dynamics_solver.h

Inheritance Relationships

Base Type

public inverse_dynamics_solver::InverseDynamicsSolver

Class Documentation

class InverseDynamicsSolverFrankaInria : public inverse_dynamics_solver::InverseDynamicsSolver

Public Functions

inline InverseDynamicsSolverFrankaInria()

virtual void initialize(rclcpp::node_interfaces::NodeParametersInterface::ConstSharedPtr = nullptr, const std::string& = "", const std::string& = "") override

Refer to the superclass documentation.

No parameter is required for this class. This method shall be called without passing any argument.

virtual Eigen::MatrixXd getInertiaMatrix(const Eigen::VectorXd &joint_positions) const override: Refer to the superclass documentation.

virtual Eigen::VectorXd getCoriolisVector(const Eigen::VectorXd &joint_positions, const Eigen::VectorXd &joint_velocities) const override: Refer to the superclass documentation.

virtual Eigen::VectorXd getGravityVector(const Eigen::VectorXd &joint_positions) const override: Refer to the superclass documentation.

virtual Eigen::VectorXd getFrictionVector(const Eigen::VectorXd &joint_velocities) const override: Refer to the superclass documentation.

virtual Eigen::VectorXd getTorques(const Eigen::VectorXd &joint_positions, const Eigen::VectorXd &joint_velocities, const Eigen::VectorXd &joint_accelerations) const override: Refer to the superclass documentation.