39 unsigned int segmentNr;
53 for (
unsigned int i=0;i<segmentNr;i++) {
70 unsigned int segmentNr;
82 else if(out.size()!=segmentNr)
84 else if(segmentNr == 0)
97 for (
unsigned int i=1;i<segmentNr;i++) {
const Segment & getSegment(unsigned int nr) const
unsigned int rows() const
~ChainFkSolverVel_recursive()
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
unsigned int getNrOfSegments() const
Input size does not match internal state.
Frame pose(const double &q) const
Twist twist(const double &q, const double &qdot) const
ChainFkSolverVel_recursive(const Chain &chain)
static IMETHOD FrameVel Identity()
Requested index out of range.
const Joint & getJoint() const
unsigned int getNrOfJoints() const
virtual int JntToCart(const JntArrayVel &q_in, FrameVel &out, int segmentNr=-1)
int error
Latest error, initialized to E_NOERROR in constructor.
const JointType & getType() const