22 #ifndef KDL_TREE_IDSOLVER_HPP
23 #define KDL_TREE_IDSOLVER_HPP
Definition: jntarray.hpp:70
Solver interface supporting storage and description of the latest error.
Definition: solveri.hpp:85
This abstract class encapsulates the inverse dynamics solver for a KDL::Tree.
Definition: treeidsolver.hpp:41
virtual int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap &f_ext, JntArray &torques)=0
Calculate inverse dynamics, from joint positions, velocity, acceleration, external forces to joint to...
Definition: articulatedbodyinertia.cpp:28
std::map< std::string, Wrench > WrenchMap
Definition: treeidsolver.hpp:33