http://bugs.orocos.org/show_bug.cgi?id=969

Summary: Add the possibility to describe multivariable joints
Product: KDL
Version: unspecified
Platform: All
OS/Version: All
Status: NEW
Severity: enhancement
Priority: P3
Component: Kinematic chains
AssignedTo: orocos-dev [..] ...
ReportedBy: gianni [dot] borghesan [..] ...
CC: orocos-dev [..] ...
Estimated Hours: 0.0

Having joints that depends from more variables can prove useful to describe
mechanism that are difficult to split in single joints.
In this case the joint::twist cannot be used anymore to build up the jacobian,
as it will be the sum of the columns.