KDL::TreeFkSolverPos_recursive Class Reference
[Kinematic Families]

#include <treefksolverpos_recursive.hpp>

Inheritance diagram for KDL::TreeFkSolverPos_recursive:
Inheritance graph

List of all members.

Public Member Functions

virtual int JntToCart (const JntArray &q_in, Frame &p_out, std::string segmentName)
 TreeFkSolverPos_recursive (const Tree &tree)
 ~TreeFkSolverPos_recursive ()

Private Member Functions

Frame recursiveFk (const JntArray &q_in, const SegmentMap::const_iterator &it)

Private Attributes

const Tree tree

Detailed Description

Implementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic tree (KDL::Tree).

Definition at line 37 of file treefksolverpos_recursive.hpp.

Constructor & Destructor Documentation

KDL::TreeFkSolverPos_recursive::TreeFkSolverPos_recursive ( const Tree tree  ) 

Definition at line 26 of file treefksolverpos_recursive.cpp.

KDL::TreeFkSolverPos_recursive::~TreeFkSolverPos_recursive (  ) 

Definition at line 63 of file treefksolverpos_recursive.cpp.

Member Function Documentation

int KDL::TreeFkSolverPos_recursive::JntToCart ( const JntArray &  q_in,
Frame p_out,
std::string  segmentName 
) [virtual]

Calculate forward position kinematics for a KDL::Tree, from joint coordinates to cartesian pose.

q_in input joint coordinates
p_out reference to output cartesian pose
if < 0 something went wrong

Implements KDL::TreeFkSolverPos.

Definition at line 31 of file treefksolverpos_recursive.cpp.

Frame KDL::TreeFkSolverPos_recursive::recursiveFk ( const JntArray &  q_in,
const SegmentMap::const_iterator &  it 
) [private]

Definition at line 47 of file treefksolverpos_recursive.cpp.

Member Data Documentation

Definition at line 46 of file treefksolverpos_recursive.hpp.

The documentation for this class was generated from the following files:
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Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Fri Mar 1 16:20:17 2013