treeidsolver.hpp

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// Copyright  (C)  2009  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>

// Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven 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

#pragma once

#include "kdl/tree.hpp"
#include "kdl/chain.hpp"
#include "kdl/frames.hpp"
#include "kdl/jntarray.hpp"

namespace KDL
{

    typedef std::vector<Wrench> Wrenches;

        class TreeIdSolver
        {
                public:
        virtual int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches& f_ext,JntArray &torques)=0;
        virtual int CartToJnt(const std::vector<double> &q, const std::vector<double> &q_dot, const std::vector<double> &q_dotdot, const Wrenches& f_ext,JntArray &torques) =0;


        // Need functions to return the manipulator mass, coriolis and gravity matrices - Lagrangian Formulation.
        };

}