KDL::TreeFkSolverPos_recursive Class Reference
[Kinematic Families]

#include <treefksolverpos_recursive.hpp>

Inheritance diagram for KDL::TreeFkSolverPos_recursive:

[legend]

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

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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.

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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.

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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.

Parameters:

	q_in	input joint coordinates
	p_out	reference to output cartesian pose

Returns:

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.

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Member Data Documentation

const Tree KDL::TreeFkSolverPos_recursive::tree [private]

Definition at line 46 of file treefksolverpos_recursive.hpp.

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

• treefksolverpos_recursive.hpp
• treefksolverpos_recursive.cpp