AdvancedChainFkSolverPos_recursive Class Reference

#include <advanced_chainfksolver_recursive.hpp>

Inheritance diagram for AdvancedChainFkSolverPos_recursive:

Public Member Functions
	AdvancedChainFkSolverPos_recursive (const KDL::Chain &chain)
void	dumpAllSegmentPostures () const
KDL::Frame	getFrameAtSegment (uint16_t seg_idx) const
virtual int	JntToCart (const KDL::JntArray &q_in, KDL::Frame &p_out, int seg_nr=-1)
	~AdvancedChainFkSolverPos_recursive ()
Public Member Functions inherited from KDL::ChainFkSolverPos
virtual int	JntToCart (const JntArray &q_in, std::vector< KDL::Frame > &p_out, int segmentNr=-1)=0
virtual void	updateInternalDataStructures ()=0
virtual	~ChainFkSolverPos ()
Public Member Functions inherited from KDL::SolverI
virtual int	getError () const
	SolverI ()
virtual const char *	strError (const int error) const
virtual	~SolverI ()

Private Attributes
const KDL::Chain &	chain_
FrameVector_t	segment_pos_

Additional Inherited Members
Public Attributes inherited from KDL::SolverI
	E_DEGRADED
	E_MAX_ITERATIONS_EXCEEDED
	E_NO_CONVERGE
	E_NOERROR
	E_NOT_IMPLEMENTED
	E_NOT_UP_TO_DATE
	E_OUT_OF_RANGE
	E_SIZE_MISMATCH
	E_SVD_FAILED
	E_UNDEFINED
Protected Attributes inherited from KDL::SolverI
int	error

Detailed Description

Implementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain).

Definition at line 35 of file advanced_chainfksolver_recursive.hpp.

Constructor & Destructor Documentation

AdvancedChainFkSolverPos_recursive::AdvancedChainFkSolverPos_recursive

(

const KDL::Chain &

chain

)

Definition at line 21 of file advanced_chainfksolver_recursive.cpp.

AdvancedChainFkSolverPos_recursive::~AdvancedChainFkSolverPos_recursive

(

)

Definition at line 112 of file advanced_chainfksolver_recursive.cpp.

Member Function Documentation

void AdvancedChainFkSolverPos_recursive::dumpAllSegmentPostures

(

)

const

Output of all previously set segment positions.

Definition at line 93 of file advanced_chainfksolver_recursive.cpp.

KDL::Frame AdvancedChainFkSolverPos_recursive::getFrameAtSegment

(

uint16_t

seg_idx

)

const

Parameters

seg_idx

Index of the segment starting with 0.

Returns

The reference frame of the segment.

Access previously set segment positions via index.

Definition at line 78 of file advanced_chainfksolver_recursive.cpp.

int AdvancedChainFkSolverPos_recursive::JntToCart ( const KDL::JntArray &  q_in, KDL::Frame &  p_out, int  seg_nr = -1  )

virtual

Parameters

q_in	Joint states.
p_out	The output frame of the given segment or end-effector.
seg_nr	The max. segment nr until calculation should stop.

Returns

An error code (0 == success)

Calculates the cartesion positions given to the joints array. This special implementation ensures that the positions are stored in a vector so it is not necessary to call the method for each segment again and again.

Implements KDL::ChainFkSolverPos.

Definition at line 31 of file advanced_chainfksolver_recursive.cpp.

Member Data Documentation

const KDL::Chain& AdvancedChainFkSolverPos_recursive::chain_

private

Definition at line 58 of file advanced_chainfksolver_recursive.hpp.

FrameVector_t AdvancedChainFkSolverPos_recursive::segment_pos_

private

Definition at line 59 of file advanced_chainfksolver_recursive.hpp.

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The documentation for this class was generated from the following files:

• advanced_chainfksolver_recursive.hpp
• advanced_chainfksolver_recursive.cpp