33 std::cout <<
"ChainIdSolver_Vereshchagin is renamed to ChainHdSolver_Vereshchagin in version 1.5. The old name will be dropped in version 1.6" << std::endl;
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
represents both translational and rotational velocities.
Abstract: Acceleration constrained hybrid dynamics calculations for a chain, based on Vereshchagin 19...
ChainIdSolver_Vereshchagin(const Chain &chain, const Twist &root_acc, const unsigned int nc)