treefksolverpos_recursive.hpp
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1 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 // Copyright (C) 2008 Julia Jesse
3 
4 // Version: 1.0
5 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
7 // URL: http://www.orocos.org/kdl
8 
9 // This library is free software; you can redistribute it and/or
10 // modify it under the terms of the GNU Lesser General Public
11 // License as published by the Free Software Foundation; either
12 // version 2.1 of the License, or (at your option) any later version.
13 
14 // This library is distributed in the hope that it will be useful,
15 // but WITHOUT ANY WARRANTY; without even the implied warranty of
16 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17 // Lesser General Public License for more details.
18 
19 // You should have received a copy of the GNU Lesser General Public
20 // License along with this library; if not, write to the Free Software
21 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
22 
23 #ifndef KDLTREEFKSOLVERPOS_RECURSIVE_HPP
24 #define KDLTREEFKSOLVERPOS_RECURSIVE_HPP
25 
26 #include "treefksolver.hpp"
27 
28 namespace KDL {
29 
38  {
39  public:
42 
43  virtual int JntToCart(const JntArray& q_in, Frame& p_out, std::string segmentName);
44 
45  private:
46  const Tree tree;
47 
48  Frame recursiveFk(const JntArray& q_in, const SegmentMap::const_iterator& it);
49  };
50 
51 }
52 
53 #endif
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.
Definition: jntarray.hpp:69
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:572
This class encapsulates a tree kinematic interconnection structure. It is built out of segments...
Definition: tree.hpp:99


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autogenerated on Thu Apr 13 2023 02:19:14