KDL::ChainFkSolverVel Class Reference
[Kinematic Families]

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

#include <chainfksolver.hpp>

Inheritance diagram for KDL::ChainFkSolverVel:

[legend]

List of all members.

Public Member Functions
virtual int	JntToCart (const JntArrayVel &q_in, FrameVel &out, int segmentNr=-1)=0
virtual	~ChainFkSolverVel ()

---

Detailed Description

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

Definition at line 62 of file chainfksolver.hpp.

---

Constructor & Destructor Documentation

virtual KDL::ChainFkSolverVel::~ChainFkSolverVel

(

)

[inline, virtual]

Definition at line 75 of file chainfksolver.hpp.

---

Member Function Documentation

virtual int KDL::ChainFkSolverVel::JntToCart	(	const JntArrayVel &	q_in,
		FrameVel &	out,
		int	segmentNr = -1
	)			[pure virtual]

Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates.

Parameters:

	q_in	input joint coordinates (position and velocity)
	out	output cartesian coordinates (position and velocity)

Returns:

if < 0 something went wrong

Implemented in KDL::ChainFkSolverVel_recursive.

---

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

• chainfksolver.hpp