chainfdsolver.hpp

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// Copyright  (C)  2018  Ruben Smits <ruben dot smits at intermodalics dot be>

// Version: 1.0
// Author: Ruben Smits <ruben dot smits at intermodalics dot be>
// Author: Craig Carignan <craigc at ssl dot umd dot edu>
// Maintainer: Ruben Smits <ruben dot smits at intermodalics dot be>
// URL: http://www.orocos.org/kdl

// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.

// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.

// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

#ifndef KDL_CHAIN_FDSOLVER_HPP
#define KDL_CHAIN_FDSOLVER_HPP

#include "chain.hpp"
#include "frames.hpp"
#include "jntarray.hpp"
#include "solveri.hpp"

namespace KDL
{

    typedef std::vector<Wrench> Wrenches;

    class ChainFdSolver : public KDL::SolverI
    {
        public:
        virtual int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &torques, const Wrenches& f_ext,JntArray &q_dotdot)=0;
    };

}

#endif