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 KDLTREEFKSOLVERPOS_RECURSIVE_HPP 00024 #define KDLTREEFKSOLVERPOS_RECURSIVE_HPP 00025 00026 #include "treefksolver.hpp" 00027 00028 namespace KDL { 00029 00037 class TreeFkSolverPos_recursive : public TreeFkSolverPos 00038 { 00039 public: 00040 TreeFkSolverPos_recursive(const Tree& tree); 00041 ~TreeFkSolverPos_recursive(); 00042 00043 virtual int JntToCart(const JntArray& q_in, Frame& p_out, std::string segmentName); 00044 00045 private: 00046 const Tree tree; 00047 00048 Frame recursiveFk(const JntArray& q_in, const SegmentMap::const_iterator& it); 00049 }; 00050 00051 } 00052 00053 #endif