Hi,

I was wondering if the following is possible in KDL:

I have two robots, each represented by a KDL::Chain from base (B) to tip (T): chain_B_T1 and chain_B_T2

Now I want to control the tip of robot 2, relative to the tip of robot 1. Therefore I need to combine the two chains into one new chain from the tip of robot 1 to the tip of robot 2: chain_T1_T2. I couldn't find a way to combine the two chains into one chain.


Thanks!

Wim