This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree. More...
#include <treefksolver.hpp>
Public Member Functions | |
virtual int | JntToCart (const JntArray &q_in, Frame &p_out, std::string segmentName)=0 |
virtual | ~TreeFkSolverPos () |
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree.
Definition at line 45 of file treefksolver.hpp.
virtual KDL::TreeFkSolverPos::~TreeFkSolverPos | ( | ) | [inline, virtual] |
Definition at line 57 of file treefksolver.hpp.
virtual int KDL::TreeFkSolverPos::JntToCart | ( | const JntArray & | q_in, |
Frame & | p_out, | ||
std::string | segmentName | ||
) | [pure 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 |
Implemented in KDL::TreeFkSolverPos_recursive.