This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain. More...
#include <chainfksolver.hpp>
Public Member Functions | |
virtual int | JntToCart (const JntArrayVel &q_in, FrameVel &out, int segmentNr=-1)=0 |
virtual int | JntToCart (const JntArrayVel &q_in, std::vector< KDL::FrameVel > &out, int segmentNr=-1)=0 |
virtual void | updateInternalDataStructures ()=0 |
virtual | ~ChainFkSolverVel () |
Public Member Functions inherited from KDL::SolverI | |
virtual int | getError () const |
Return the latest error. More... | |
SolverI () | |
Initialize latest error to E_NOERROR. More... | |
virtual const char * | strError (const int error) const |
virtual | ~SolverI () |
Additional Inherited Members | |
Public Types inherited from KDL::SolverI | |
enum | { E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2, E_NOT_UP_TO_DATE = -3, E_SIZE_MISMATCH = -4, E_MAX_ITERATIONS_EXCEEDED = -5, E_OUT_OF_RANGE = -6, E_NOT_IMPLEMENTED = -7, E_SVD_FAILED = -8 } |
Protected Attributes inherited from KDL::SolverI | |
int | error |
Latest error, initialized to E_NOERROR in constructor. More... | |
This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain.
Definition at line 74 of file chainfksolver.hpp.
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inlinevirtual |
Definition at line 98 of file chainfksolver.hpp.
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pure virtual |
Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates.
q_in | input joint coordinates (position and velocity) |
out | output cartesian coordinates (position and velocity) |
Implemented in KDL::ChainFkSolverVel_recursive.
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pure virtual |
Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates.
q_in | input joint coordinates (position and velocity) |
out | output cartesian coordinates for all segments (position and velocity) |
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pure virtual |
Update the internal data structures. This is required if the number of segments or number of joints of a chain/tree have changed. This provides a single point of contact for solver memory allocations.
Implements KDL::SolverI.
Implemented in KDL::ChainFkSolverVel_recursive.