22 #ifndef KDL_CHAIN_IDSOLVER_HPP
23 #define KDL_CHAIN_IDSOLVER_HPP
33 typedef std::vector<Wrench>
Wrenches;
This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.
Definition: chainidsolver.hpp:41
virtual int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches &f_ext, JntArray &torques)=0
Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces to joint to...
Definition: jntarray.hpp:70
Solver interface supporting storage and description of the latest error.
Definition: solveri.hpp:85
Definition: articulatedbodyinertia.cpp:26
std::vector< Wrench > Wrenches
Definition: chainfdsolver.hpp:34