- 3.0.2 rigid body dynamics module.
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Classes | Namespaces
OperationalModel.h File Reference
#include "OperationalModelBase.h"

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Classes

class  ct::rbd::OperationalModel< NUM_OUTPUTS, NUM_JOINTS, NUM_CONTACTPOINTS >
 This is the class for the operational space model which gives access to the operational model parameter. The model is assumed to have the following form: $ M \ddot{x} + C + G = S^\top \tau + J_c^\top \lambda $ where $ \ddot{x} $ is the acceleration of the operational space coordinate. More...
 

Namespaces

 ct
 
 ct::rbd