23#ifndef KDL_CHAIN_FDSOLVER_HPP
24#define KDL_CHAIN_FDSOLVER_HPP
This abstract class encapsulates the inverse dynamics solver for a KDL::Chain.
Definition: chainfdsolver.hpp:42
virtual int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &torques, const Wrenches &f_ext, JntArray &q_dotdot)=0
Definition: jntarray.hpp:70
Solver interface supporting storage and description of the latest error.
Definition: solveri.hpp:85
Definition: articulatedbodyinertia.cpp:26
std::vector< Wrench > Wrenches
Definition: chainfdsolver.hpp:34