chainfksolver.hpp
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00001 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 #ifndef KDL_CHAIN_FKSOLVER_HPP
00023 #define KDL_CHAIN_FKSOLVER_HPP
00024 
00025 #include "chain.hpp"
00026 #include "framevel.hpp"
00027 #include "frameacc.hpp"
00028 #include "jntarray.hpp"
00029 #include "jntarrayvel.hpp"
00030 #include "jntarrayacc.hpp"
00031 #include "solveri.hpp"
00032 
00033 namespace KDL {
00040     //Forward definition
00041     class ChainFkSolverPos : public KDL::SolverI {
00042     public:
00052         virtual int JntToCart(const JntArray& q_in, Frame& p_out,int segmentNr=-1)=0;
00062         virtual int JntToCart(const JntArray& q_in, std::vector<KDL::Frame>& p_out,int segmentNr=-1)=0;
00063         virtual ~ChainFkSolverPos(){};
00064     };
00065 
00072     class ChainFkSolverVel : public KDL::SolverI {
00073     public:
00083         virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0;
00093         virtual int JntToCart(const JntArrayVel& q_in, std::vector<KDL::FrameVel>& out,int segmentNr=-1)=0;
00094         virtual ~ChainFkSolverVel(){};
00095     };
00096 
00104     class ChainFkSolverAcc : public KDL::SolverI {
00105     public:
00117     virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0;
00129     virtual int JntToCart(const JntArrayAcc& q_in, std::vector<FrameAcc>& out,int segmentNr=-1)=0;
00130     
00131         virtual ~ChainFkSolverAcc()=0;
00132     };
00133 
00134 
00135 }//end of namespace KDL
00136 
00137 #endif


orocos_kdl
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autogenerated on Sat Oct 7 2017 03:04:28