orocos_kdl
src
chainfksolverpos_recursive.hpp
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// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#ifndef KDLCHAINFKSOLVERPOS_RECURSIVE_HPP
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#define KDLCHAINFKSOLVERPOS_RECURSIVE_HPP
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#include "
chainfksolver.hpp
"
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namespace
KDL
{
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class
ChainFkSolverPos_recursive
:
public
ChainFkSolverPos
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{
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public
:
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ChainFkSolverPos_recursive
(
const
Chain
&
chain
);
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~ChainFkSolverPos_recursive
();
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virtual
int
JntToCart
(
const
JntArray
& q_in,
Frame
& p_out,
int
segmentNr=-1);
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virtual
int
JntToCart
(
const
JntArray
& q_in,
std::vector<Frame>
& p_out,
int
segmentNr=-1);
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virtual
void
updateInternalDataStructures
() {};
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private
:
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const
Chain
&
chain
;
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};
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}
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#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
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