chainidsolver_vereshchagin.hpp File Reference

`#include "chainidsolver.hpp"`

`#include "frames.hpp"`

`#include "articulatedbodyinertia.hpp"`

`#include <Eigen/StdVector>`

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## Classes | |

class | KDL::ChainIdSolver_Vereshchagin |

Dynamics calculations by constraints based on Vereshchagin 1989. for a chain. This class creates instance of hybrid dynamics solver. The solver calculates total joint space accelerations in a chain when a constraint force(s) is applied to the chain's end-effector (task space/cartesian space). More... | |

struct | KDL::ChainIdSolver_Vereshchagin::segment_info |

## Namespaces | |

KDL | |