22 #ifndef KDL_CHAIN_IKSOLVER_HPP 23 #define KDL_CHAIN_IKSOLVER_HPP This abstract class encapsulates the inverse position solver for a KDL::Chain.
virtual int CartToJnt(const JntArray &q_init, const Frame &p_in, JntArray &q_out)=0
This class represents an fixed size array containing joint values of a KDL::Chain.
virtual ~ChainIkSolverAcc()
virtual void updateInternalDataStructures()=0
represents both translational and rotational velocities.
virtual ~ChainIkSolverPos()
represents a frame transformation in 3D space (rotation + translation)
This abstract class encapsulates the inverse acceleration solver for a KDL::Chain.
virtual ~ChainIkSolverVel()
This abstract class encapsulates the inverse velocity solver for a KDL::Chain.