22 #ifndef KDL_TREE_IDSOLVER_HPP 23 #define KDL_TREE_IDSOLVER_HPP
This class represents an fixed size array containing joint values of a KDL::Chain.
virtual int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const WrenchMap &f_ext, JntArray &torques)=0
std::map< std::string, Wrench > WrenchMap
This abstract class encapsulates the inverse dynamics solver for a KDL::Tree.