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