#include <chainfksolverpos_recursive.hpp>
Public Member Functions | |
ChainFkSolverPos_recursive (const Chain &chain) | |
virtual int | JntToCart (const JntArray &q_in, Frame &p_out, int segmentNr=-1) |
virtual int | JntToCart (const JntArray &q_in, std::vector< Frame > &p_out, int segmentNr=-1) |
virtual void | updateInternalDataStructures () |
~ChainFkSolverPos_recursive () | |
Public Member Functions inherited from KDL::ChainFkSolverPos | |
virtual int | JntToCart (const JntArray &q_in, std::vector< KDL::Frame > &p_out, int segmentNr=-1)=0 |
virtual | ~ChainFkSolverPos () |
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 () |
Private Attributes | |
const Chain & | chain |
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... | |
Implementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain).
Definition at line 36 of file chainfksolverpos_recursive.hpp.
KDL::ChainFkSolverPos_recursive::ChainFkSolverPos_recursive | ( | const Chain & | chain | ) |
Definition at line 28 of file chainfksolverpos_recursive.cpp.
KDL::ChainFkSolverPos_recursive::~ChainFkSolverPos_recursive | ( | ) |
Definition at line 95 of file chainfksolverpos_recursive.cpp.
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virtual |
Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose.
q_in | input joint coordinates |
p_out | reference to output cartesian pose |
Implements KDL::ChainFkSolverPos.
Definition at line 33 of file chainfksolverpos_recursive.cpp.
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virtual |
Definition at line 59 of file chainfksolverpos_recursive.cpp.
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inlinevirtual |
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::ChainFkSolverPos.
Definition at line 45 of file chainfksolverpos_recursive.hpp.
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private |
Definition at line 45 of file chainfksolverpos_recursive.hpp.