treefksolver.hpp
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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 KDL_TREE_FKSOLVER_HPP
00024 #define KDL_TREE_FKSOLVER_HPP
00025 
00026 #include <string>
00027 
00028 #include "tree.hpp"
00029 //#include "framevel.hpp"
00030 //#include "frameacc.hpp"
00031 #include "jntarray.hpp"
00032 //#include "jntarrayvel.hpp"
00033 //#include "jntarrayacc.hpp"
00034 
00035 namespace KDL {
00036 
00044     //Forward definition
00045     class TreeFkSolverPos {
00046     public:
00056         virtual int JntToCart(const JntArray& q_in, Frame& p_out, std::string segmentName)=0;
00057         virtual ~TreeFkSolverPos(){};
00058     };
00059 
00066 //    class TreeFkSolverVel {
00067 //    public:
00077 //        virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0;
00078 
00079 //        virtual ~TreeFkSolverVel(){};
00080 //    };
00081     
00089 //    class TreeFkSolverAcc {
00090 //   public:
00102 //    virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0;
00103 
00104 //        virtual ~TreeFkSolverAcc()=0;
00105 //    };
00106 
00107 
00108 }//end of namespace KDL
00109 
00110 #endif


orocos_kdl
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autogenerated on Fri Jun 14 2019 19:33:23