CdsWrapper::CdsWrapper(CdsWrapperParams params, const KDL::JntArray& q_init) : arm_( ArmKinematics() ), cds_controller_( CDSExecution() ) { this->init(params, q_init); }
CdsCartesianWrapper::CdsCartesianWrapper() : cds_controller_( CDSExecution() ) {}
CdsWrapper::CdsWrapper() : arm_( ArmKinematics() ), cds_controller_( CDSExecution() ) { }