This abstract class encapsulates the inverse velocity solver for a KDL::Tree. More...
#include <treeiksolver.hpp>
Public Member Functions  
virtual double  CartToJnt (const JntArray &q_in, const Twists &v_in, JntArray &qdot_out)=0 
virtual  ~TreeIkSolverVel () 
This abstract class encapsulates the inverse velocity solver for a KDL::Tree.
Definition at line 54 of file treeiksolver.hpp.

inlinevirtual 
Definition at line 69 of file treeiksolver.hpp.

pure virtual 
Calculate inverse velocity kinematics, from joint positions and cartesian velocities to joint velocities.
q_in  input joint positions 
v_in  input cartesian velocity 
qdot_out  output joint velocities 
Implemented in KDL::TreeIkSolverVel_wdls.