- i -

• I : KDL::ArticulatedBodyInertia , KDL::RigidBodyInertia , KDL::Segment
• Ic : KDL::ChainDynParam
• IdSolver : KDL::ChainFdSolver_RNE
• iksolver : KDL::ChainIkSolverPos_NR , KDL::ChainIkSolverPos_NR_JL , KDL::TreeIkSolverPos_NR_JL
• iksolver_ : KDL::TreeIkSolverPos_Online
• inertia : KDL::Joint
• INERTIAL : KDL::ChainJntToJacDotSolver
• initial_jnt_momentum : KDL::ChainExternalWrenchEstimator
• Iz : TreeInvDynTest