8 #ifndef TREEIKSOLVER_HPP_ 9 #define TREEIKSOLVER_HPP_ 18 typedef std::map<std::string, Twist>
Twists;
20 typedef std::map<std::string, Frame>
Frames;
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
std::map< std::string, Jacobian > Jacobians
Definition: treeiksolver.hpp:19
Definition: articulatedbodyinertia.cpp:28
std::map< std::string, Frame > Frames
Definition: treeiksolver.hpp:20
This abstract class encapsulates the inverse position solver for a KDL::Chain.
Definition: treeiksolver.hpp:28
virtual ~TreeIkSolverPos()
Definition: treeiksolver.hpp:43
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
Definition: treeiksolver.hpp:54
virtual ~TreeIkSolverVel()
Definition: treeiksolver.hpp:69
std::map< std::string, Twist > Twists
Definition: treeiksolver.hpp:18
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.