35 unsigned int segmentNr;
49 for(
unsigned int i=0;i<segmentNr;i++){
61 unsigned int segmentNr;
71 else if(p_out.size() != segmentNr)
73 else if(segmentNr == 0)
84 for(
unsigned int i=1;i<segmentNr;i++){
const Segment & getSegment(unsigned int nr) const
virtual int JntToCart(const JntArray &q_in, Frame &p_out, int segmentNr=-1)
unsigned int rows() const
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
unsigned int getNrOfSegments() const
This class represents an fixed size array containing joint values of a KDL::Chain.
Input size does not match internal state.
ChainFkSolverPos_recursive(const Chain &chain)
Frame pose(const double &q) const
~ChainFkSolverPos_recursive()
Requested index out of range.
const Joint & getJoint() const
unsigned int getNrOfJoints() const
represents a frame transformation in 3D space (rotation + translation)
int error
Latest error, initialized to E_NOERROR in constructor.
const JointType & getType() const