orocos_kdl
src
treefksolverpos_recursive.hpp
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// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Copyright (C) 2008 Julia Jesse
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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 KDLTREEFKSOLVERPOS_RECURSIVE_HPP
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#define KDLTREEFKSOLVERPOS_RECURSIVE_HPP
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#include "
treefksolver.hpp
"
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namespace
KDL
{
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class
TreeFkSolverPos_recursive
:
public
TreeFkSolverPos
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{
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public
:
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TreeFkSolverPos_recursive
(
const
Tree
&
tree
);
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~TreeFkSolverPos_recursive
();
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virtual
int
JntToCart
(
const
JntArray
& q_in,
Frame
& p_out,
std::string
segmentName);
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private
:
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const
Tree
tree
;
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Frame
recursiveFk
(
const
JntArray
& q_in,
const
SegmentMap::const_iterator& it);
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};
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}
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#endif
KDL::TreeFkSolverPos_recursive
Definition:
treefksolverpos_recursive.hpp:37
std::string
KDL::JntArray
Definition:
jntarray.hpp:69
KDL::TreeFkSolverPos
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree.
Definition:
treefksolver.hpp:45
KDL
Definition:
kukaLWR_DHnew.cpp:25
treefksolver.hpp
KDL::TreeFkSolverPos_recursive::~TreeFkSolverPos_recursive
~TreeFkSolverPos_recursive()
Definition:
treefksolverpos_recursive.cpp:64
KDL::TreeFkSolverPos_recursive::tree
const Tree tree
Definition:
treefksolverpos_recursive.hpp:46
KDL::Frame
represents a frame transformation in 3D space (rotation + translation)
Definition:
frames.hpp:572
KDL::TreeFkSolverPos_recursive::recursiveFk
Frame recursiveFk(const JntArray &q_in, const SegmentMap::const_iterator &it)
Definition:
treefksolverpos_recursive.cpp:48
KDL::Tree
This class encapsulates a tree kinematic interconnection structure. It is built out of segments.
Definition:
tree.hpp:99
KDL::TreeFkSolverPos_recursive::JntToCart
virtual int JntToCart(const JntArray &q_in, Frame &p_out, std::string segmentName)
Definition:
treefksolverpos_recursive.cpp:33
KDL::TreeFkSolverPos_recursive::TreeFkSolverPos_recursive
TreeFkSolverPos_recursive(const Tree &tree)
Definition:
treefksolverpos_recursive.cpp:28
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