24#ifndef KDL_CHAINIDSOLVER_VERESHCHAGIN_HPP
25#define KDL_CHAINIDSOLVER_VERESHCHAGIN_HPP
Abstract: Acceleration constrained hybrid dynamics calculations for a chain, based on Vereshchagin 19...
Definition chainhdsolver_vereshchagin.hpp:367
const Chain & chain
Definition chainhdsolver_vereshchagin.hpp:466
unsigned int nc
Definition chainhdsolver_vereshchagin.hpp:469
Definition chainidsolver_vereshchagin.hpp:33
ChainIdSolver_Vereshchagin(const Chain &chain, const Twist &root_acc, const unsigned int nc)
Definition chainidsolver_vereshchagin.cpp:31
represents both translational and rotational velocities.
Definition frames.hpp:720
Definition articulatedbodyinertia.cpp:26