#include <chainfksolverpos_recursive.hpp>

Inheritance diagram for KDL::ChainFkSolverPos_recursive:

Public Member Functions
	ChainFkSolverPos_recursive (const Chain &chain)

virtual int	JntToCart (const JntArray &q_in, Frame &p_out, int segmentNr=-1)

virtual int	JntToCart (const JntArray &q_in, std::vector< Frame > &p_out, int segmentNr=-1)

virtual void	updateInternalDataStructures ()

	~ChainFkSolverPos_recursive ()

Public Member Functions inherited from KDL::ChainFkSolverPos
virtual	~ChainFkSolverPos ()

Public Member Functions inherited from KDL::SolverI
virtual int	getError () const
	Return the latest error. More...

	SolverI ()
	Initialize latest error to E_NOERROR. More...

virtual const char *	strError (const int error) const

virtual	~SolverI ()

Private Attributes
const Chain &	chain

Additional Inherited Members
Public Types inherited from KDL::SolverI
enum	{ E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2, E_NOT_UP_TO_DATE = -3, E_SIZE_MISMATCH = -4, E_MAX_ITERATIONS_EXCEEDED = -5, E_OUT_OF_RANGE = -6, E_NOT_IMPLEMENTED = -7, E_SVD_FAILED = -8 }

Protected Attributes inherited from KDL::SolverI
int	error
	Latest error, initialized to E_NOERROR in constructor. More...

Detailed Description

Implementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain).

Definition at line 36 of file chainfksolverpos_recursive.hpp.

Constructor & Destructor Documentation

◆ ChainFkSolverPos_recursive()

KDL::ChainFkSolverPos_recursive::ChainFkSolverPos_recursive ( const Chain & chain )

Definition at line 29 of file chainfksolverpos_recursive.cpp.

◆ ~ChainFkSolverPos_recursive()

KDL::ChainFkSolverPos_recursive::~ChainFkSolverPos_recursive ( )

Definition at line 96 of file chainfksolverpos_recursive.cpp.

Member Function Documentation

◆ JntToCart() [1/2]

int KDL::ChainFkSolverPos_recursive::JntToCart	(	const JntArray &	q_in,
		Frame &	p_out,
		int	segmentNr = `-1`
	)

virtual

Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose.

Parameters

q_in	input joint coordinates
p_out	reference to output cartesian pose

Returns: if < 0 something went wrong

Implements KDL::ChainFkSolverPos.

Definition at line 34 of file chainfksolverpos_recursive.cpp.

◆ JntToCart() [2/2]

int KDL::ChainFkSolverPos_recursive::JntToCart	(	const JntArray &	q_in,
		std::vector< Frame > &	p_out,
		int	segmentNr = `-1`
	)

virtual

Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose.

Parameters

q_in	input joint coordinates
p_out	reference to a vector of output cartesian poses for all segments

Returns: if < 0 something went wrong

Implements KDL::ChainFkSolverPos.

Definition at line 60 of file chainfksolverpos_recursive.cpp.

◆ updateInternalDataStructures()

virtual void KDL::ChainFkSolverPos_recursive::updateInternalDataStructures ( )

inlinevirtual

Update the internal data structures. This is required if the number of segments or number of joints of a chain/tree have changed. This provides a single point of contact for solver memory allocations.

Implements KDL::ChainFkSolverPos.

Definition at line 45 of file chainfksolverpos_recursive.hpp.