22 #ifndef KDL_CHAINJNTTOJACSOLVER_HPP
23 #define KDL_CHAINJNTTOJACSOLVER_HPP
Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers....
ChainJntToJacSolver(const Chain &chain)
int JntToJac(const JntArray &q_in, Jacobian &jac)
This class encapsulates a serial kinematic interconnection structure. It is build out of segments.
represents a frame transformation in 3D space (rotation + translation)
represents both translational and rotational velocities.