---

OSCAR::IDSANewtonEuler Class Reference
[Dynamics]

Standalone inverse dynamics using Newton-Euler. More...

#include <IDSANewtonEuler.h>

Inheritance diagram for OSCAR::IDSANewtonEuler:

[legend]List of all members.

Public Methods
	IDSANewtonEuler (IDNewtonEuler *id, FKJacobian *fk)
virtual bool	SetJointPosition (const Vector &position)
Protected Attributes
FKJacobian *	fkJacobian

---

Detailed Description

Author:

Chalongrath Pholsiri

---

Constructor & Destructor Documentation

OSCAR::IDSANewtonEuler::IDSANewtonEuler (  IDNewtonEuler *    id, FKJacobian *    fk )

Constructor. Parameters: id  Pointer to an IDNewtonEuler object. fk  Pointer to an FKJacobian object.

---

Member Function Documentation

virtual bool OSCAR::IDSANewtonEuler::SetJointPosition (  const Vector &    position )  [virtual]

MUST call this function before calling any GetXXX() method to set the joint positions. Returns: true if position is of correct size. If not, return false. Parameters: position  A vector containing the current joint position of the robot. Exceptions: vectorSizeMismatch  vectorSizeMismatch Implements OSCAR::IDStandAlone.

---

Member Data Documentation

FKJacobian* OSCAR::IDSANewtonEuler::fkJacobian [protected]

---

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

• IDSANewtonEuler.h

RRG Homepage

OSCAR Overview

OSCAR Tutorials

Simulations