#include <chainfksolverpos_recursive.hpp>
Public Member Functions | |
ChainFkSolverPos_recursive (const Chain &chain) | |
virtual int | JntToCart (const JntArray &q_in, Frame &p_out, int segmentNr=-1) |
~ChainFkSolverPos_recursive () | |
Private Attributes | |
const Chain | chain |
Implementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain).
Definition at line 36 of file chainfksolverpos_recursive.hpp.
KDL::ChainFkSolverPos_recursive::ChainFkSolverPos_recursive | ( | const Chain & | chain | ) |
Definition at line 28 of file chainfksolverpos_recursive.cpp.
Definition at line 61 of file chainfksolverpos_recursive.cpp.
int KDL::ChainFkSolverPos_recursive::JntToCart | ( | const JntArray & | q_in, |
Frame & | p_out, | ||
int | segmentNr = -1 |
||
) | [virtual] |
Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose.
q_in | input joint coordinates |
p_out | reference to output cartesian pose |
Implements KDL::ChainFkSolverPos.
Definition at line 33 of file chainfksolverpos_recursive.cpp.
const Chain KDL::ChainFkSolverPos_recursive::chain [private] |
Definition at line 45 of file chainfksolverpos_recursive.hpp.