8 #ifndef TREEJNTTOJACSOLVER_HPP_ 9 #define TREEJNTTOJACSOLVER_HPP_ 29 const std::string& segmentname);
int JntToJac(const JntArray &q_in, Jacobian &jac, const std::string &segmentname)
This class represents an fixed size array containing joint values of a KDL::Chain.
TreeJntToJacSolver(const Tree &tree)
virtual ~TreeJntToJacSolver()
This class encapsulates a tree kinematic interconnection structure. It is built out of segments...