├── .clang-format ├── .cmake-format.py ├── .gitignore ├── .gitmessage ├── .mailmap ├── .mdstyle.rb ├── .pre-commit-config.yaml ├── LICENSE ├── README.md ├── franka_inria_inverse_dynamics_solver ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── bagfiles │ └── panda_exciting_trajectory.db3 ├── franka_inria_inverse_dynamics_solver.xml ├── include │ └── franka_inria_inverse_dynamics_solver │ │ ├── franka_inria_inverse_dynamics_solver.hpp │ │ ├── get_CoriolisMatrix.hpp │ │ ├── get_FrictionTorque.hpp │ │ ├── get_GravityVector.hpp │ │ └── get_MassMatrix.hpp ├── launch │ └── evaluate_solver_franka.launch.py ├── package.xml └── src │ ├── franka_inria_inverse_dynamics_solver.cpp │ ├── get_CoriolisMatrix.cpp │ ├── get_CoriolisMatrix_old.cpp │ ├── get_FrictionTorque.cpp │ ├── get_GravityVector_eigen.cpp │ ├── get_MassMatrix.cpp │ └── get_MassMatrix_parziale.cpp ├── inverse_dynamics_solver ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── demo │ └── evaluate_solver.cpp ├── doc │ └── media │ │ └── inverse_dynamics_solver.png ├── include │ └── inverse_dynamics_solver │ │ ├── exceptions.hpp │ │ └── inverse_dynamics_solver.hpp ├── launch │ └── evaluate_solver.launch.py ├── package.xml └── scripts │ └── plot_joint_state.py ├── kdl_inverse_dynamics_solver ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── bagfiles │ ├── panda_exciting_trajectory.db3 │ └── ur10_exciting_trajectory.db3 ├── include │ └── kdl_inverse_dynamics_solver │ │ └── kdl_inverse_dynamics_solver.hpp ├── kdl_inverse_dynamics_solver.xml ├── launch │ └── evaluate_solver_kdl_ur10.launch.py ├── package.xml ├── src │ └── kdl_inverse_dynamics_solver.cpp └── test │ ├── test_kdl_inverse_dynamics_solver.cpp │ └── test_kdl_inverse_dynamics_solver.py └── ur10_inverse_dynamics_solver ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── bagfiles └── ur10_exciting_trajectory.db3 ├── include └── ur10_inverse_dynamics_solver │ ├── getCoriolisCurrents.hpp │ ├── getCurrents.hpp │ ├── getGravityCurrents.hpp │ ├── 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