KDL 1.5.1
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chainfksolverpos_recursive.hpp
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1// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2
3// Version: 1.0
4// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6// URL: http://www.orocos.org/kdl
7
8// This library is free software; you can redistribute it and/or
9// modify it under the terms of the GNU Lesser General Public
10// License as published by the Free Software Foundation; either
11// version 2.1 of the License, or (at your option) any later version.
12
13// This library is distributed in the hope that it will be useful,
14// but WITHOUT ANY WARRANTY; without even the implied warranty of
15// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16// Lesser General Public License for more details.
17
18// You should have received a copy of the GNU Lesser General Public
19// License along with this library; if not, write to the Free Software
20// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21
22#ifndef KDLCHAINFKSOLVERPOS_RECURSIVE_HPP
23#define KDLCHAINFKSOLVERPOS_RECURSIVE_HPP
24
25#include "chainfksolver.hpp"
26
27namespace KDL {
28
37 {
38 public:
41
42 virtual int JntToCart(const JntArray& q_in, Frame& p_out, int segmentNr=-1);
43 virtual int JntToCart(const JntArray& q_in, std::vector<Frame>& p_out, int segmentNr=-1);
44
46
47 private:
48 const Chain& chain;
49 };
50
51}
52
53#endif
Implementation of a recursive forward position kinematics algorithm to calculate the position transfo...
Definition chainfksolverpos_recursive.hpp:37
virtual int JntToCart(const JntArray &q_in, Frame &p_out, int segmentNr=-1)
Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose.
Definition chainfksolverpos_recursive.cpp:34
~ChainFkSolverPos_recursive()
Definition chainfksolverpos_recursive.cpp:96
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition chainfksolverpos_recursive.hpp:45
const Chain & chain
Definition chainfksolverpos_recursive.hpp:48
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain.
Definition chainfksolver.hpp:41
Definition chain.hpp:35
Definition frames.hpp:570
Definition jntarray.hpp:70
Definition articulatedbodyinertia.cpp:26