#include <chainfksolvervel_recursive.hpp>
Public Member Functions | |
| ChainFkSolverVel_recursive (const Chain &chain) | |
| virtual int | JntToCart (const JntArrayVel &q_in, FrameVel &out, int segmentNr=-1) |
| virtual int | JntToCart (const JntArrayVel &q_in, std::vector< FrameVel > &out, int segmentNr=-1) |
| virtual void | updateInternalDataStructures () |
| ~ChainFkSolverVel_recursive () | |
 Public Member Functions inherited from KDL::ChainFkSolverVel | |
| virtual int | JntToCart (const JntArrayVel &q_in, std::vector< KDL::FrameVel > &out, int segmentNr=-1)=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 () |
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... | |
Detailed Description
Implementation of a recursive forward position and velocity kinematics algorithm to calculate the position and velocity transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain).
Definition at line 37 of file chainfksolvervel_recursive.hpp.
Constructor & Destructor Documentation
| KDL::ChainFkSolverVel_recursive::ChainFkSolverVel_recursive | ( | const Chain & | chain | ) |
Definition at line 27 of file chainfksolvervel_recursive.cpp.
| KDL::ChainFkSolverVel_recursive::~ChainFkSolverVel_recursive | ( | ) |
Definition at line 32 of file chainfksolvervel_recursive.cpp.
Member Function Documentation
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virtual |
Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates.
- Parameters
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q_in input joint coordinates (position and velocity) out output cartesian coordinates (position and velocity)
- Returns
- if < 0 something went wrong
Implements KDL::ChainFkSolverVel.
Definition at line 36 of file chainfksolvervel_recursive.cpp.
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virtual |
Definition at line 67 of file chainfksolvervel_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::ChainFkSolverVel.
Definition at line 45 of file chainfksolvervel_recursive.hpp.
Member Data Documentation
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private |
Definition at line 45 of file chainfksolvervel_recursive.hpp.
The documentation for this class was generated from the following files: