Tree ID solver and Tree/TreeElement class extension

I'm interested in writing a tree ID solver based on the current chain ID 
solver. The first issues I can think of is the lack of a q, q_dot, and 
q_dotdot, and that the ChainIdSolver uses a JntArray, which won't work 
for a tree. Given that these are only used for calculation of other 
pieces of information, a map<std::string, Eigen::Vector3d> could work 
but since they're only used in a few places, the time it takes to 
retrieve them from the map may overshadow the time it takes to use them.

The next is the frames, twists, and wrenches of the tree, which can be 
in a map<std::string, etc> and just copied locally and written back when 
they're no longer needed.

Before I spend a decent amount of time on this, I'd like to get others' 
feedback about how they would go about it.

Some root->leaf->root functions:
int TreeIdSolver_RNE::CartToJnt(const Tree &tree)
     {
         // Calculate things such as v, a, f, for the root segment
         SegmentMap::const_iterator iter;
         for (iter = tree.getRootSegment().children.begin(); iter != 
tree.getRootSegment().children.end(); iter++)
         {
             RecursiveSolver(iter);
         }
         // Calculate torque for root segment
     }

     int TreeIdSolver_RNE::RecursiveSolver(const 
SegmentMap::const_iterator& current)
     {
         // Calculate things such as X, S, v, a, f, then continue
         SegmentMap::const_iterator children;
         for (children = current->children.begin(); children != 
current->children.end(); children++)
         {
             RecursiveSolver(children);
         }
         // Calculate torque for the segment
     }

-- 
Cheers,
Rohan Smith

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