KDL::ChainFkSolverVel Class Reference

This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain. More...

#include <chainfksolver.hpp>

Inheritance diagram for KDL::ChainFkSolverVel:

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...

Detailed Description

This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain.

Definition at line 74 of file chainfksolver.hpp.

Constructor & Destructor Documentation

~ChainFkSolverVel()

virtual KDL::ChainFkSolverVel::~ChainFkSolverVel ( )

inlinevirtual

Definition at line 98 of file chainfksolver.hpp.

Member Function Documentation

JntToCart() [1/2]

virtual int KDL::ChainFkSolverVel::JntToCart ( const JntArrayVel &  q_in, FrameVel &  out, int  segmentNr = -1  )

pure virtual

Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates.

Parameters

q_in	input joint coordinates (position and velocity)
out	output cartesian coordinates (position and velocity)

Returns

if < 0 something went wrong

Implemented in KDL::ChainFkSolverVel_recursive.

JntToCart() [2/2]

virtual int KDL::ChainFkSolverVel::JntToCart ( const JntArrayVel &  q_in, std::vector< KDL::FrameVel > &  out, int  segmentNr = -1  )

pure virtual

Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates.

Parameters

q_in	input joint coordinates (position and velocity)
out	output cartesian coordinates for all segments (position and velocity)

Returns

if < 0 something went wrong

updateInternalDataStructures()

virtual void KDL::ChainFkSolverVel::updateInternalDataStructures ( )

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.

---

The documentation for this class was generated from the following file:

• chainfksolver.hpp