This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain. More...
#include <chainfksolver.hpp>
Inheritance diagram for KDL::ChainFkSolverVel:
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 63 of file chainfksolver.hpp.
Constructor & Destructor Documentation
| virtual KDL::ChainFkSolverVel::~ChainFkSolverVel | ( | ) | [inline, virtual] |
Definition at line 76 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: