23 #ifndef KDLTREEFKSOLVERPOS_RECURSIVE_HPP 24 #define KDLTREEFKSOLVERPOS_RECURSIVE_HPP virtual int JntToCart(const JntArray &q_in, Frame &p_out, std::string segmentName)
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree...
Frame recursiveFk(const JntArray &q_in, const SegmentMap::const_iterator &it)
This class represents an fixed size array containing joint values of a KDL::Chain.
TreeFkSolverPos_recursive(const Tree &tree)
represents a frame transformation in 3D space (rotation + translation)
~TreeFkSolverPos_recursive()
This class encapsulates a tree kinematic interconnection structure. It is built out of segments...