orocos_kdl
src
chainfksolverpos_recursive.hpp
Go to the documentation of this file.
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
27
namespace
KDL
{
28
36
class
ChainFkSolverPos_recursive
:
public
ChainFkSolverPos
37
{
38
public
:
39
ChainFkSolverPos_recursive
(
const
Chain
&
chain
);
40
~ChainFkSolverPos_recursive
();
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
45
virtual
void
updateInternalDataStructures
() {};
46
47
private
:
48
const
Chain
&
chain
;
49
};
50
51
}
52
53
#endif
KDL::ChainFkSolverPos_recursive::ChainFkSolverPos_recursive
ChainFkSolverPos_recursive(const Chain &chain)
Definition:
chainfksolverpos_recursive.cpp:29
KDL::JntArray
Definition:
jntarray.hpp:69
std::vector
KDL::ChainFkSolverPos_recursive::~ChainFkSolverPos_recursive
~ChainFkSolverPos_recursive()
Definition:
chainfksolverpos_recursive.cpp:96
KDL::ChainFkSolverPos
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain.
Definition:
chainfksolver.hpp:41
KDL::ChainFkSolverPos_recursive::chain
const Chain & chain
Definition:
chainfksolverpos_recursive.hpp:45
KDL
Definition:
kukaLWR_DHnew.cpp:25
chainfksolver.hpp
KDL::Frame
represents a frame transformation in 3D space (rotation + translation)
Definition:
frames.hpp:572
KDL::ChainFkSolverPos_recursive::JntToCart
virtual int JntToCart(const JntArray &q_in, Frame &p_out, int segmentNr=-1)
Definition:
chainfksolverpos_recursive.cpp:34
KDL::ChainFkSolverPos_recursive::updateInternalDataStructures
virtual void updateInternalDataStructures()
Definition:
chainfksolverpos_recursive.hpp:45
KDL::ChainFkSolverPos_recursive
Definition:
chainfksolverpos_recursive.hpp:36
KDL::Chain
This class encapsulates a serial kinematic interconnection structure. It is built out of segments.
Definition:
chain.hpp:35
Generated on Tue Nov 26 2024 04:35:24 for orocos_kdl by
1.8.17