#include <advanced_chainfksolver_recursive.hpp>

Inheritance diagram for AdvancedChainFkSolverVel_recursive:

Public Member Functions
	AdvancedChainFkSolverVel_recursive (const KDL::Chain &chain)

KDL::FrameVel	getFrameVelAtSegment (uint16_t seg_idx) const

virtual int	JntToCart (const KDL::JntArrayVel &q_in, KDL::FrameVel &out, int seg_nr=-1)

virtual int	JntToCart (const KDL::JntArrayVel &q_in, std::vector< KDL::FrameVel > &out, int segmentNr=-1)

virtual void	updateInternalDataStructures ()

	~AdvancedChainFkSolverVel_recursive ()

Public Member Functions inherited from KDL::ChainFkSolverVel
virtual int	JntToCart (const JntArrayVel &q_in, std::vector< KDL::FrameVel > &out, int segmentNr=-1)=0

virtual	~ChainFkSolverVel ()

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_

FrameVelVector_t	segment_vel_

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 velocities kinematics algorithm to calculate the velocity transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain).

Definition at line 71 of file advanced_chainfksolver_recursive.hpp.

Constructor & Destructor Documentation

AdvancedChainFkSolverVel_recursive::AdvancedChainFkSolverVel_recursive ( const KDL::Chain & chain )

Definition at line 117 of file advanced_chainfksolver_recursive.cpp.

AdvancedChainFkSolverVel_recursive::~AdvancedChainFkSolverVel_recursive ( )

Definition at line 237 of file advanced_chainfksolver_recursive.cpp.

Member Function Documentation

KDL::FrameVel AdvancedChainFkSolverVel_recursive::getFrameVelAtSegment ( uint16_t seg_idx ) const

Parameters

seg_idx Index of the segment starting with 0.

Returns: The reference frame of the segment.

Definition at line 224 of file advanced_chainfksolver_recursive.cpp.

int AdvancedChainFkSolverVel_recursive::JntToCart	(	const KDL::JntArrayVel &	q_in,
		KDL::FrameVel &	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 velocities given to the joints and joint velocities array. This special implementation ensures that the velocities are stored in a vector so it is not necessary to call the method for each segment again and again.

Implements KDL::ChainFkSolverVel.

Definition at line 127 of file advanced_chainfksolver_recursive.cpp.