Public Member Functions | Private Member Functions | Private Attributes | List of all members
KDL::TreeFkSolverPos_recursive Class Reference

#include <treefksolverpos_recursive.hpp>

Inheritance diagram for KDL::TreeFkSolverPos_recursive:
Inheritance graph

Public Member Functions

virtual int JntToCart (const JntArray &q_in, Frame &p_out, std::string segmentName)
 TreeFkSolverPos_recursive (const Tree &tree)
 ~TreeFkSolverPos_recursive ()
- Public Member Functions inherited from KDL::TreeFkSolverPos
virtual ~TreeFkSolverPos ()

Private Member Functions

Frame recursiveFk (const JntArray &q_in, const SegmentMap::const_iterator &it)

Private Attributes

const Tree tree

Detailed Description

Implementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic tree (KDL::Tree).

Definition at line 37 of file treefksolverpos_recursive.hpp.

Constructor & Destructor Documentation

◆ TreeFkSolverPos_recursive()

KDL::TreeFkSolverPos_recursive::TreeFkSolverPos_recursive ( const Tree tree)

Definition at line 28 of file treefksolverpos_recursive.cpp.

◆ ~TreeFkSolverPos_recursive()

KDL::TreeFkSolverPos_recursive::~TreeFkSolverPos_recursive ( )

Definition at line 64 of file treefksolverpos_recursive.cpp.

Member Function Documentation

◆ JntToCart()

int KDL::TreeFkSolverPos_recursive::JntToCart ( const JntArray q_in,
Frame p_out,
std::string  segmentName 

Calculate forward position kinematics for a KDL::Tree, from joint coordinates to cartesian pose.

q_ininput joint coordinates
p_outreference to output cartesian pose
if < 0 something went wrong

Implements KDL::TreeFkSolverPos.

Definition at line 33 of file treefksolverpos_recursive.cpp.

◆ recursiveFk()

Frame KDL::TreeFkSolverPos_recursive::recursiveFk ( const JntArray q_in,
const SegmentMap::const_iterator &  it 

Definition at line 48 of file treefksolverpos_recursive.cpp.

Member Data Documentation

◆ tree

const Tree KDL::TreeFkSolverPos_recursive::tree

Definition at line 46 of file treefksolverpos_recursive.hpp.

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

autogenerated on Thu Apr 13 2023 02:19:15