KDL::ChainFkSolverPos Class Reference
[Kinematic Families]

This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain. More...

#include <chainfksolver.hpp>

Inheritance diagram for KDL::ChainFkSolverPos:

[legend]

List of all members.

Public Member Functions
virtual int	JntToCart (const JntArray &q_in, Frame &p_out, int segmentNr=-1)=0
virtual	~ChainFkSolverPos ()

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Detailed Description

This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain.

Definition at line 41 of file chainfksolver.hpp.

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Constructor & Destructor Documentation

virtual KDL::ChainFkSolverPos::~ChainFkSolverPos

(

)

[inline, virtual]

Definition at line 43 of file chainfksolver.hpp.

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Member Function Documentation

virtual int KDL::ChainFkSolverPos::JntToCart	(	const JntArray &	q_in,
		Frame &	p_out,
		int	segmentNr = -1
	)			[pure 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

Implemented in KDL::ChainFkSolverPos_recursive.

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The documentation for this class was generated from the following file:

• chainfksolver.hpp