22 #ifndef KDL_CHAIN_FKSOLVER_HPP 23 #define KDL_CHAIN_FKSOLVER_HPP 62 virtual int JntToCart(
const JntArray& q_in, std::vector<KDL::Frame>& p_out,
int segmentNr=-1)=0;
95 virtual int JntToCart(
const JntArrayVel& q_in, std::vector<KDL::FrameVel>& out,
int segmentNr=-1)=0;
This class represents an fixed size array containing joint values of a KDL::Chain.
virtual ~ChainFkSolverVel()
virtual int JntToCart(const JntArray &q_in, Frame &p_out, int segmentNr=-1)=0
virtual void updateInternalDataStructures()=0
virtual ~ChainFkSolverPos()
This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain...
represents a frame transformation in 3D space (rotation + translation)
This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain...
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain...