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 KDLCHAINFKSOLVERPOS_RECURSIVE_HPP 00023 #define KDLCHAINFKSOLVERPOS_RECURSIVE_HPP 00024 00025 #include "chainfksolver.hpp" 00026 00027 namespace KDL { 00028 00036 class ChainFkSolverPos_recursive : public ChainFkSolverPos 00037 { 00038 public: 00039 ChainFkSolverPos_recursive(const Chain& chain); 00040 ~ChainFkSolverPos_recursive(); 00041 00042 virtual int JntToCart(const JntArray& q_in, Frame& p_out, int segmentNr=-1); 00043 00044 private: 00045 const Chain chain; 00046 }; 00047 00048 } 00049 00050 #endif