KDL::ChainFkSolverVel_recursive Class Reference

`#include <chainfksolvervel_recursive.hpp>`

Inheritance diagram for KDL::ChainFkSolverVel_recursive:

## Public Member Functions | |

ChainFkSolverVel_recursive (const Chain &chain) | |

virtual int | JntToCart (const JntArrayVel &q_in, FrameVel &out, int segmentNr=-1) |

~ChainFkSolverVel_recursive () | |

## Private Attributes | |

const Chain | chain |

Implementation of a recursive forward position and velocity kinematics algorithm to calculate the position and velocity transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain).

Definition at line 37 of file chainfksolvervel_recursive.hpp.

KDL::ChainFkSolverVel_recursive::ChainFkSolverVel_recursive | ( | const Chain & | chain | ) |

Definition at line 27 of file chainfksolvervel_recursive.cpp.

Definition at line 32 of file chainfksolvervel_recursive.cpp.

int KDL::ChainFkSolverVel_recursive::JntToCart | ( | const JntArrayVel & | q_in, |

FrameVel & | out, |
||

int | segmentNr = `-1` |
||

) | ` [virtual]` |

Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates.

**Parameters:**-
q_in input joint coordinates (position and velocity) out output cartesian coordinates (position and velocity)

**Returns:**- if < 0 something went wrong

Implements KDL::ChainFkSolverVel.

Definition at line 36 of file chainfksolvervel_recursive.cpp.

const Chain KDL::ChainFkSolverVel_recursive::chain` [private]` |

Definition at line 45 of file chainfksolvervel_recursive.hpp.

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