ERC CISST - cisst software

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robComputedTorque Class Reference

Inheritance diagram for robComputedTorque:

[legend]Collaboration diagram for robComputedTorque:

[legend]List of all members.

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Detailed Description

Definition at line 9 of file robComputedTorque.h.

Public Member Functions

• robComputedTorque (const std::string &robfile, const vctFrame4x4< double > &Rtw0, const vctDynamicMatrix< double > &Kp, const vctDynamicMatrix< double > &Kd)
• vctDynamicVector< double > Control (double dt, const vctDynamicVector< double > &qs, const vctDynamicVector< double > &q, const vctDynamicVector< double > &qds, const vctDynamicVector< double > &qd, const vctDynamicVector< double > &qdds, const vctDynamicVector< double > &qdd)

Protected Attributes

• vctDynamicVector< double > qold
• vctDynamicVector< double > eold
• vctDynamicMatrix< double > Kp
• vctDynamicMatrix< double > Kd

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

• robComputedTorque.h

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