24 #ifndef KDL_CHAINIDSOLVER_VERESHCHAGIN_HPP 25 #define KDL_CHAINIDSOLVER_VERESHCHAGIN_HPP 40 #endif // KDL_CHAINIDSOLVER_VERESHCHAGIN_HPP This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
represents both translational and rotational velocities.
Definition: frames.hpp:720
unsigned int nc
Definition: chainhdsolver_vereshchagin.hpp:469
Definition: articulatedbodyinertia.cpp:26
const Chain & chain
Definition: chainhdsolver_vereshchagin.hpp:466
Definition: chainidsolver_vereshchagin.hpp:32
Abstract: Acceleration constrained hybrid dynamics calculations for a chain, based on Vereshchagin 19...
Definition: chainhdsolver_vereshchagin.hpp:366
ChainIdSolver_Vereshchagin(const Chain &chain, const Twist &root_acc, const unsigned int nc)
Definition: chainidsolver_vereshchagin.cpp:31