00001 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00002 00003 // Version: 1.0 00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00006 // URL: http://www.orocos.org/kdl 00007 00008 // This library is free software; you can redistribute it and/or 00009 // modify it under the terms of the GNU Lesser General Public 00010 // License as published by the Free Software Foundation; either 00011 // version 2.1 of the License, or (at your option) any later version. 00012 00013 // This library is distributed in the hope that it will be useful, 00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00016 // Lesser General Public License for more details. 00017 00018 // You should have received a copy of the GNU Lesser General Public 00019 // License along with this library; if not, write to the Free Software 00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA 00021 00022 #ifndef KDL_CHAIN_FKSOLVER_HPP 00023 #define KDL_CHAIN_FKSOLVER_HPP 00024 00025 #include "chain.hpp" 00026 #include "framevel.hpp" 00027 #include "frameacc.hpp" 00028 #include "jntarray.hpp" 00029 #include "jntarrayvel.hpp" 00030 #include "jntarrayacc.hpp" 00031 #include "solveri.hpp" 00032 00033 namespace KDL { 00034 00042 //Forward definition 00043 class ChainFkSolverPos : public KDL::SolverI { 00044 public: 00054 virtual int JntToCart(const JntArray& q_in, Frame& p_out,int segmentNr=-1)=0; 00055 virtual ~ChainFkSolverPos(){}; 00056 }; 00057 00064 class ChainFkSolverVel : public KDL::SolverI { 00065 public: 00075 virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0; 00076 00077 virtual ~ChainFkSolverVel(){}; 00078 }; 00079 00087 class ChainFkSolverAcc : public KDL::SolverI { 00088 public: 00100 virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0; 00101 00102 virtual ~ChainFkSolverAcc()=0; 00103 }; 00104 00105 00106 }//end of namespace KDL 00107 00108 #endif