chainfksolveracc_recursive.hpp
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00001 /*
00002  * chainfksolveracc_recursive.hpp
00003  *
00004  *  Created on: Sep 14, 2012
00005  *      Author: Francisco Vina
00006  */
00007 
00008 /* Copyright (c) 2012, Francisco Vina, CVAP, KTH
00009    All rights reserved.
00010 
00011    Redistribution and use in source and binary forms, with or without
00012    modification, are permitted provided that the following conditions are met:
00013       * Redistributions of source code must retain the above copyright
00014         notice, this list of conditions and the following disclaimer.
00015       * Redistributions in binary form must reproduce the above copyright
00016         notice, this list of conditions and the following disclaimer in the
00017         documentation and/or other materials provided with the distribution.
00018       * Neither the name of KTH nor the
00019         names of its contributors may be used to endorse or promote products
00020         derived from this software without specific prior written permission.
00021 
00022    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00023    ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00024    WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00025    DISCLAIMED. IN NO EVENT SHALL KTH BE LIABLE FOR ANY
00026    DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00027    (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00029    ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00030    (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00031    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00032 */
00033 
00034 #ifndef KDL_CHAIN_FKSOLVERACC_RECURSIVE_HPP
00035 #define KDL_CHAIN_FKSOLVERACC_RECURSIVE_HPP
00036 #include <kdl/chainfksolver.hpp>
00037 
00038 namespace KDL {
00039 
00040 class ChainFkSolverAcc_recursive : public ChainFkSolverAcc {
00041 public:
00042         ChainFkSolverAcc_recursive(const Chain& chain);
00043         ~ChainFkSolverAcc_recursive();
00044 
00045         // returns linear and rotational acceleration plus the rotational velocity
00046         // expressed in the chain's base frame
00047         virtual int JntToCart(const JntArrayAcc &q_in, FrameAcc &out, int segmentNr=-1);
00048 
00049 private:
00050         const Chain chain;
00051 
00052         Twist SegmentGetTwistAcc(const Segment &s, const double &q,const double &qdot, const double &qdotdot) const;
00053 
00054 };
00055 
00056 } /* namespace KDL */
00057 #endif 


kdl_acc_solver
Author(s): Francisco Vina
autogenerated on Mon Oct 6 2014 01:23:28