22 #ifndef KDLCHAINFKSOLVERPOS_RECURSIVE_HPP 23 #define KDLCHAINFKSOLVERPOS_RECURSIVE_HPP 43 virtual int JntToCart(
const JntArray& q_in, std::vector<Frame>& p_out,
int segmentNr=-1);
virtual int JntToCart(const JntArray &q_in, Frame &p_out, int segmentNr=-1)
virtual void updateInternalDataStructures()
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
This class represents an fixed size array containing joint values of a KDL::Chain.
ChainFkSolverPos_recursive(const Chain &chain)
~ChainFkSolverPos_recursive()
represents a frame transformation in 3D space (rotation + translation)
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain...