This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain. More...
#include <chainfksolver.hpp>
Inheritance diagram for KDL::ChainFkSolverAcc:
Public Member Functions | |
| virtual int | JntToCart (const JntArrayAcc &q_in, FrameAcc &out, int segmentNr=-1)=0 |
| virtual int | JntToCart (const JntArrayAcc &q_in, std::vector< FrameAcc > &out, int segmentNr=-1)=0 |
| virtual void | updateInternalDataStructures ()=0 |
| virtual | ~ChainFkSolverAcc ()=0 |
Detailed Description
This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain.
Definition at line 108 of file chainfksolver.hpp.
Constructor & Destructor Documentation
| virtual KDL::ChainFkSolverAcc::~ChainFkSolverAcc | ( | ) | [pure virtual] |
Member Function Documentation
| virtual int KDL::ChainFkSolverAcc::JntToCart | ( | const JntArrayAcc & | q_in, |
| FrameAcc & | out, | ||
| int | segmentNr = -1 |
||
| ) | [pure virtual] |
Calculate forward position, velocity and acceleration kinematics, from joint coordinates to cartesian coordinates
- Parameters:
-
q_in input joint coordinates (position, velocity and acceleration out output cartesian coordinates (position, velocity and acceleration
- Returns:
- if < 0 something went wrong
| virtual int KDL::ChainFkSolverAcc::JntToCart | ( | const JntArrayAcc & | q_in, |
| std::vector< FrameAcc > & | out, | ||
| int | segmentNr = -1 |
||
| ) | [pure virtual] |
Calculate forward position, velocity and acceleration kinematics, from joint coordinates to cartesian coordinates
- Parameters:
-
q_in input joint coordinates (position, velocity and acceleration out output cartesian coordinates (position, velocity and acceleration for all segments
- Returns:
- if < 0 something went wrong
| virtual void KDL::ChainFkSolverAcc::updateInternalDataStructures | ( | ) | [pure virtual] |
Update the internal data structures. This is required if the number of segments or number of joints of a chain/tree have changed. This provides a single point of contact for solver memory allocations.
Implements KDL::SolverI.
The documentation for this class was generated from the following file: