/home/jbrooksh/drc/software/perception/constraint_app/src/matlab_mex/MyTreeJntToJacSolver.hpp

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#ifndef MYTREEJNTTOJACSOLVER_HPP_
#define MYTREEJNTTOJACSOLVER_HPP_

#include <kdl/tree.hpp>
#include <kdl/jacobian.hpp>
#include <kdl/jntarray.hpp>

class MyTreeJntToJacSolver {
public:
  explicit MyTreeJntToJacSolver(const KDL::Tree& tree);

  virtual ~MyTreeJntToJacSolver();

  int JntToJac(const KDL::JntArray& q_in, KDL::Jacobian& jac,
               const std::string& segmentname);

private:
  KDL::Tree tree;
  
};

#endif /* TREEJNTTOJACSOLVER_H_ */