00001 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00002 // Copyright (C) 2008 Julia Jesse 00003 00004 // Version: 1.0 00005 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00006 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> 00007 // URL: http://www.orocos.org/kdl 00008 00009 // This library is free software; you can redistribute it and/or 00010 // modify it under the terms of the GNU Lesser General Public 00011 // License as published by the Free Software Foundation; either 00012 // version 2.1 of the License, or (at your option) any later version. 00013 00014 // This library is distributed in the hope that it will be useful, 00015 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00016 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00017 // Lesser General Public License for more details. 00018 00019 // You should have received a copy of the GNU Lesser General Public 00020 // License along with this library; if not, write to the Free Software 00021 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA 00022 00023 #ifndef KDL_TREE_FKSOLVER_HPP 00024 #define KDL_TREE_FKSOLVER_HPP 00025 00026 #include <string> 00027 00028 #include "tree.hpp" 00029 //#include "framevel.hpp" 00030 //#include "frameacc.hpp" 00031 #include "jntarray.hpp" 00032 //#include "jntarrayvel.hpp" 00033 //#include "jntarrayacc.hpp" 00034 00035 namespace KDL { 00036 00044 //Forward definition 00045 class TreeFkSolverPos { 00046 public: 00056 virtual int JntToCart(const JntArray& q_in, Frame& p_out, std::string segmentName)=0; 00057 virtual ~TreeFkSolverPos(){}; 00058 }; 00059 00066 // class TreeFkSolverVel { 00067 // public: 00077 // virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0; 00078 00079 // virtual ~TreeFkSolverVel(){}; 00080 // }; 00081 00089 // class TreeFkSolverAcc { 00090 // public: 00102 // virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0; 00103 00104 // virtual ~TreeFkSolverAcc()=0; 00105 // }; 00106 00107 00108 }//end of namespace KDL 00109 00110 #endif