8#ifndef TREEJNTTOJACSOLVER_HPP_
9#define TREEJNTTOJACSOLVER_HPP_
29 const std::string& segmentname);
Definition jacobian.hpp:37
Definition jntarray.hpp:70
Definition treejnttojacsolver.hpp:17
int JntToJac(const JntArray &q_in, Jacobian &jac, const std::string &segmentname)
Definition treejnttojacsolver.cpp:21
virtual ~TreeJntToJacSolver()
Definition treejnttojacsolver.cpp:18
KDL::Tree tree
Definition treejnttojacsolver.hpp:32
This class encapsulates a tree kinematic interconnection structure.
Definition tree.hpp:100
Definition articulatedbodyinertia.cpp:26