This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain. More...
#include <chainfksolver.hpp>
Public Member Functions | |
| virtual int | JntToCart (const JntArrayVel &q_in, FrameVel &out, int segmentNr=-1)=0 |
| virtual int | JntToCart (const JntArrayVel &q_in, std::vector< KDL::FrameVel > &out, int segmentNr=-1)=0 |
| virtual void | updateInternalDataStructures ()=0 |
| virtual | ~ChainFkSolverVel () |
Detailed Description
This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain.
Definition at line 74 of file chainfksolver.hpp.
Constructor & Destructor Documentation
| virtual KDL::ChainFkSolverVel::~ChainFkSolverVel | ( | ) | [inline, virtual] |
Definition at line 98 of file chainfksolver.hpp.
Member Function Documentation
| virtual int KDL::ChainFkSolverVel::JntToCart | ( | const JntArrayVel & | q_in, |
| FrameVel & | out, | ||
| int | segmentNr = -1 |
||
| ) | [pure virtual] |
Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates.
- Parameters:
-
q_in input joint coordinates (position and velocity) out output cartesian coordinates (position and velocity)
- Returns:
- if < 0 something went wrong
Implemented in KDL::ChainFkSolverVel_recursive.
| virtual int KDL::ChainFkSolverVel::JntToCart | ( | const JntArrayVel & | q_in, |
| std::vector< KDL::FrameVel > & | out, | ||
| int | segmentNr = -1 |
||
| ) | [pure virtual] |
Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates.
- Parameters:
-
q_in input joint coordinates (position and velocity) out output cartesian coordinates for all segments (position and velocity)
- Returns:
- if < 0 something went wrong
| virtual void KDL::ChainFkSolverVel::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::ChainFkSolverVel_recursive.
The documentation for this class was generated from the following file: