AdvancedChainFkSolverVel_recursive Class Reference

#include <advanced_chainfksolver_recursive.hpp>

Inheritance diagram for AdvancedChainFkSolverVel_recursive:

List of all members.

Public Member Functions
	AdvancedChainFkSolverVel_recursive (const KDL::Chain &chain)
KDL::FrameVel	getFrameVelAtSegment (uint16_t seg_idx) const
virtual int	JntToCart (const KDL::JntArrayVel &q_in, KDL::FrameVel &out, int seg_nr=-1)
	~AdvancedChainFkSolverVel_recursive ()
Private Attributes
const KDL::Chain &	chain_
FrameVelVector_t	segment_vel_

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Detailed Description

Implementation of a recursive forward velocities kinematics algorithm to calculate the velocity transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain).

Definition at line 71 of file advanced_chainfksolver_recursive.hpp.

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Constructor & Destructor Documentation

AdvancedChainFkSolverVel_recursive::AdvancedChainFkSolverVel_recursive

(

const KDL::Chain &

chain

)

Definition at line 117 of file advanced_chainfksolver_recursive.cpp.

AdvancedChainFkSolverVel_recursive::~AdvancedChainFkSolverVel_recursive

(

)

Definition at line 190 of file advanced_chainfksolver_recursive.cpp.

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Member Function Documentation

KDL::FrameVel AdvancedChainFkSolverVel_recursive::getFrameVelAtSegment

(

uint16_t

seg_idx

)

const

Parameters:

seg_idx

Index of the segment starting with 0.

Returns:

The reference frame of the segment.

Definition at line 177 of file advanced_chainfksolver_recursive.cpp.

int AdvancedChainFkSolverVel_recursive::JntToCart	(	const KDL::JntArrayVel &	q_in,
		KDL::FrameVel &	out,
		int	seg_nr = -1
	)		[virtual]

Parameters:

q_in	Joint states.
p_out	The output frame of the given segment or end-effector.
seg_nr	The max. segment nr until calculation should stop.

Returns:

An error code (0 == success)

Calculates the cartesion velocities given to the joints and joint velocities array. This special implementation ensures that the velocities are stored in a vector so it is not necessary to call the method for each segment again and again.

Implements KDL::ChainFkSolverVel.

Definition at line 127 of file advanced_chainfksolver_recursive.cpp.

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Member Data Documentation

const KDL::Chain& AdvancedChainFkSolverVel_recursive::chain_ [private]

Definition at line 93 of file advanced_chainfksolver_recursive.hpp.

FrameVelVector_t AdvancedChainFkSolverVel_recursive::segment_vel_ [private]

Definition at line 94 of file advanced_chainfksolver_recursive.hpp.

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The documentation for this class was generated from the following files:

• advanced_chainfksolver_recursive.hpp
• advanced_chainfksolver_recursive.cpp