KDL::ChainFkSolverVel_recursive Class Reference
[Kinematic Families]

#include <chainfksolvervel_recursive.hpp>

Inheritance diagram for KDL::ChainFkSolverVel_recursive:

[legend]

List of all members.

Public Member Functions
	ChainFkSolverVel_recursive (const Chain &chain)
virtual int	JntToCart (const JntArrayVel &q_in, FrameVel &out, int segmentNr=-1)
	~ChainFkSolverVel_recursive ()
Private Attributes
const Chain	chain

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Detailed Description

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

Definition at line 37 of file chainfksolvervel_recursive.hpp.

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Constructor & Destructor Documentation

KDL::ChainFkSolverVel_recursive::ChainFkSolverVel_recursive

(

const Chain &

chain

)

Definition at line 25 of file chainfksolvervel_recursive.cpp.

KDL::ChainFkSolverVel_recursive::~ChainFkSolverVel_recursive

(

)

Definition at line 30 of file chainfksolvervel_recursive.cpp.

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Member Function Documentation

int KDL::ChainFkSolverVel_recursive::JntToCart	(	const JntArrayVel &	q_in,
		FrameVel &	out,
		int	segmentNr = -1
	)			[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

Implements KDL::ChainFkSolverVel.

Definition at line 34 of file chainfksolvervel_recursive.cpp.

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Member Data Documentation

const Chain KDL::ChainFkSolverVel_recursive::chain [private]

Definition at line 45 of file chainfksolvervel_recursive.hpp.

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

• chainfksolvervel_recursive.hpp
• chainfksolvervel_recursive.cpp