DynamicsInterface Class Reference

#include <RoboticsPlugin/Include/ImFusion/Robotics/RobotControlInterfaces.h>

Interface to define the method used to compute the robot dynamics. More...

Inheritance diagram for DynamicsInterface:

Detailed Description

Interface to define the method used to compute the robot dynamics.

By default, "native" implementations will be used over generic ones

Public Types
enum class	Source { Any , Native , Generic }

Public Member Functions
CoriolisSolution	computeCoriolis (const RobotState &state)
JacobianSolution	computeJacobian (const RobotState &state)
GravitySolution	computeGravity (const RobotState &state)
virtual CoriolisSolution	computeCoriolis (const RobotState &state, Source source)=0
virtual JacobianSolution	computeJacobian (const RobotState &state, Source source)=0
virtual GravitySolution	computeGravity (const RobotState &state, Source source)=0

Member Enumeration Documentation

Source

enum class Source

strong

Enumerator
Any	If the robot integration provides a native implementation, that will be used; otherwise the ImFusion generic implementation will.
Native	If the robot integration provides a native implementation, that will be used; otherwise no result will be returned.
Generic	Use the ImFusion generic implementation.

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

• RoboticsPlugin/Include/ImFusion/Robotics/RobotControlInterfaces.h