8#ifndef TREEIKSOLVER_HPP_
9#define TREEIKSOLVER_HPP_
18typedef std::map<std::string, Twist>
Twists;
20typedef std::map<std::string, Frame>
Frames;
Definition jntarray.hpp:70
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition treeiksolver.hpp:28
virtual ~TreeIkSolverPos()
Definition treeiksolver.hpp:43
virtual double CartToJnt(const JntArray &q_init, const Frames &p_in, JntArray &q_out)=0
Calculate inverse position kinematics, from cartesian coordinates to joint coordinates.
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
Definition treeiksolver.hpp:54
virtual double CartToJnt(const JntArray &q_in, const Twists &v_in, JntArray &qdot_out)=0
Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocit...
virtual ~TreeIkSolverVel()
Definition treeiksolver.hpp:69
Definition articulatedbodyinertia.cpp:26
std::map< std::string, Frame > Frames
Definition treeiksolver.hpp:20
std::map< std::string, Twist > Twists
Definition treeiksolver.hpp:18
std::map< std::string, Jacobian > Jacobians
Definition treeiksolver.hpp:19