8 #ifndef TREEIKSOLVER_HPP_ 9 #define TREEIKSOLVER_HPP_ 18 typedef std::map<std::string, Twist>
Twists;
20 typedef std::map<std::string, Frame>
Frames;
This class represents an fixed size array containing joint values of a KDL::Chain.
std::map< std::string, Jacobian > Jacobians
std::map< std::string, Frame > Frames
This abstract class encapsulates the inverse position solver for a KDL::Chain.
virtual ~TreeIkSolverPos()
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
virtual ~TreeIkSolverVel()
std::map< std::string, Twist > Twists
virtual double CartToJnt(const JntArray &q_init, const Frames &p_in, JntArray &q_out)=0