kuka361InvDynnf Class Reference

This class can calculate the inverse dynamics of the kuka 361. More...

#include <kuka361InvDynnf.hpp>

List of all members.

Public Member Functions
	kuka361InvDynnf (double dqm_)
vector< double >	invdyn361 (vector< double > &q, vector< double > &dq, vector< double > &dq_des, vector< double > &ddq, vector< double > &torque_scale, vector< double > &torque_offset)
	Calculate inverse dynamics of kuka 361.

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Detailed Description

This class can calculate the inverse dynamics of the kuka 361.

Definition at line 12 of file kuka361InvDynnf.hpp.

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Member Function Documentation

vector< double > invdyn361	(	vector< double > &	q,
		vector< double > &	dq,
		vector< double > &	dq_des,
		vector< double > &	ddq,
		vector< double > &	torque_scale,
		vector< double > &	torque_offset
	)

Calculate inverse dynamics of kuka 361.

Parameters:

	q	joint positions
	dq	joint velocities
	ddq	motor torques

Returns:

joint torques

Definition at line 31 of file kuka361InvDynnf.cpp.

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

• kuka361InvDynnf.hpp
• kuka361InvDynnf.cpp