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35 unsigned int segmentNr;
49 for(
unsigned int i=0;i<segmentNr;i++){
61 unsigned int segmentNr;
71 else if(p_out.
size() != segmentNr)
73 else if(segmentNr == 0)
84 for(
unsigned int i=1;i<segmentNr;i++){
ChainFkSolverPos_recursive(const Chain &chain)
const Joint & getJoint() const
~ChainFkSolverPos_recursive()
unsigned int getNrOfSegments() const
@ E_OUT_OF_RANGE
Requested index out of range.
unsigned int rows() const
const Segment & getSegment(unsigned int nr) const
@ E_SIZE_MISMATCH
Input size does not match internal state.
Frame pose(const double &q) const
represents a frame transformation in 3D space (rotation + translation)
virtual int JntToCart(const JntArray &q_in, Frame &p_out, int segmentNr=-1)
const JointType & getType() const
This class encapsulates a serial kinematic interconnection structure. It is built out of segments.
unsigned int getNrOfJoints() const
int error
Latest error, initialized to E_NOERROR in constructor.