lmc_dyn.h

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#ifndef LMC_DYN
#define LMC_DYN
#include <motion_control/lmc_robot_model.h>
#include <motion_control/lmc_joint.h>




#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */

int lmc_dyn_id(lmc_robot_model_t * const robot_model, lmc_joint_state_t const * const joint_state,
double * const torque);

int lmc_dyn_update_tcp_force_direct_estimation(lmc_robot_model_t * const robot_model, lmc_joint_state_t const * const joint_state,
double const* const torque, lmc_wrench_t* const f);


int lmc_dyn_update_tcp_force_momentum_observer_estimation(lmc_robot_model_t * const robot_model, double cycle_time, lmc_joint_state_t const * const joint_state,
double const* const torque, lmc_wrench_t* const f);

int lmc_dyn_init_tcp_force_momentum_observer_estimation(lmc_robot_model_t * const robot_model, lmc_joint_state_t const * const joint_state);

int lmc_dyn_estimate_payload_with_twice_strategy(lmc_robot_model_t * const robot_model, lmc_all_sampled_joint_state_t const * const all_sampled_data, double * const mass, lmc_translation_t * const com);








int lmc_dyn_set_gravity(lmc_robot_model_t const * const robot_model, lmc_translation_t const * const gravity);

#ifdef __cplusplus
}
#endif /* __cplusplus */

#endif /* LMC_DYN */