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kdl_install/include/kdl/chainidsolver_vereshchagin.hpp

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+// Copyright  (C)  2009  Ruben Smits <ruben dot smits at intermodalics dot eu>
+
+// Version: 1.0
+// Author: Ruben Smits <ruben dot smits at intermodalics dot eu>
+// Author: Herman Bruyninckx
+// Author: Azamat Shakhimardanov
+// Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
+// 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
+
+#ifndef KDL_CHAINIDSOLVER_VERESHCHAGIN_HPP
+#define KDL_CHAINIDSOLVER_VERESHCHAGIN_HPP
+
+#include "chainhdsolver_vereshchagin.hpp"
+
+namespace KDL
+{
+
+class ChainIdSolver_Vereshchagin : public ChainHdSolver_Vereshchagin
+{
+public:
+    ChainIdSolver_Vereshchagin(const Chain& chain, const Twist &root_acc, const unsigned int nc);
+};
+
+}
+
+#endif // KDL_CHAINIDSOLVER_VERESHCHAGIN_HPP