This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain. More...
#include <chainfksolver.hpp>
Public Member Functions | |
| virtual int | JntToCart (const JntArray &q_in, Frame &p_out, int segmentNr=-1)=0 |
| virtual int | JntToCart (const JntArray &q_in, std::vector< KDL::Frame > &p_out, int segmentNr=-1)=0 |
| virtual void | updateInternalDataStructures ()=0 |
| virtual | ~ChainFkSolverPos () |
Detailed Description
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain.
Definition at line 41 of file chainfksolver.hpp.
Constructor & Destructor Documentation
| virtual KDL::ChainFkSolverPos::~ChainFkSolverPos | ( | ) | [inline, virtual] |
Definition at line 65 of file chainfksolver.hpp.
Member Function Documentation
| virtual int KDL::ChainFkSolverPos::JntToCart | ( | const JntArray & | q_in, |
| Frame & | p_out, | ||
| int | segmentNr = -1 |
||
| ) | [pure virtual] |
Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose.
- Parameters:
-
q_in input joint coordinates p_out reference to output cartesian pose
- Returns:
- if < 0 something went wrong
Implemented in KDL::ChainFkSolverPos_recursive.
| virtual int KDL::ChainFkSolverPos::JntToCart | ( | const JntArray & | q_in, |
| std::vector< KDL::Frame > & | p_out, | ||
| int | segmentNr = -1 |
||
| ) | [pure virtual] |
Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose.
- Parameters:
-
q_in input joint coordinates p_out reference to a vector of output cartesian poses for all segments
- Returns:
- if < 0 something went wrong
| virtual void KDL::ChainFkSolverPos::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.
Implemented in KDL::ChainFkSolverPos_recursive.
The documentation for this class was generated from the following file: