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This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain. More...
#include <chainfksolver.hpp>
Public Member Functions | |
virtual int | JntToCart (const JntArrayAcc &q_in, FrameAcc &out, int segmentNr=-1)=0 |
virtual | ~ChainFkSolverAcc ()=0 |
This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain.
Definition at line 85 of file chainfksolver.hpp.
virtual KDL::ChainFkSolverAcc::~ChainFkSolverAcc | ( | ) | [pure virtual] |
virtual int KDL::ChainFkSolverAcc::JntToCart | ( | const JntArrayAcc & | q_in, | |
FrameAcc & | out, | |||
int | segmentNr = -1 | |||
) | [pure virtual] |
Calculate forward position, velocity and accelaration kinematics, from joint coordinates to cartesian coordinates
q_in | input joint coordinates (position, velocity and acceleration | |
out | output cartesian coordinates (position, velocity and acceleration |