chainfksolveracc_recursive.hpp

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/*
 * chainfksolveracc_recursive.hpp
 *
 *  Created on: Sep 14, 2012
 *      Author: Francisco Vina
 */

/* Copyright (c) 2012, Francisco Vina, CVAP, KTH
   All rights reserved.

   Redistribution and use in source and binary forms, with or without
   modification, are permitted provided that the following conditions are met:
      * Redistributions of source code must retain the above copyright
        notice, this list of conditions and the following disclaimer.
      * Redistributions in binary form must reproduce the above copyright
        notice, this list of conditions and the following disclaimer in the
        documentation and/or other materials provided with the distribution.
      * Neither the name of KTH nor the
        names of its contributors may be used to endorse or promote products
        derived from this software without specific prior written permission.

   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
   ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
   WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   DISCLAIMED. IN NO EVENT SHALL KTH BE LIABLE FOR ANY
   DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
   (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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*/

#ifndef KDL_CHAIN_FKSOLVERACC_RECURSIVE_HPP
#define KDL_CHAIN_FKSOLVERACC_RECURSIVE_HPP
#include <kdl/chainfksolver.hpp>

namespace KDL {

class ChainFkSolverAcc_recursive : public ChainFkSolverAcc {
public:
        ChainFkSolverAcc_recursive(const Chain& chain);
        ~ChainFkSolverAcc_recursive();

        // returns linear and rotational acceleration plus the rotational velocity
        // expressed in the chain's base frame
        virtual int JntToCart(const JntArrayAcc &q_in, FrameAcc &out, int segmentNr=-1);

private:
        const Chain chain;

        Twist SegmentGetTwistAcc(const Segment &s, const double &q,const double &qdot, const double &qdotdot) const;

};

} /* namespace KDL */
#endif