KDL::TreeFkSolverPos Class Reference

This **abstract** class encapsulates a solver for the forward position kinematics for a KDL::Tree.
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`#include <treefksolver.hpp>`

Inheritance diagram for KDL::TreeFkSolverPos:

## Public Member Functions | |

virtual int | JntToCart (const JntArray &q_in, Frame &p_out, std::string segmentName)=0 |

virtual | ~TreeFkSolverPos () |

This **abstract** class encapsulates a solver for the forward position kinematics for a KDL::Tree.

Definition at line 45 of file treefksolver.hpp.

virtual KDL::TreeFkSolverPos::~TreeFkSolverPos | ( | ) | ` [inline, virtual]` |

Definition at line 57 of file treefksolver.hpp.

virtual int KDL::TreeFkSolverPos::JntToCart | ( | const JntArray & | q_in, |

Frame & | p_out, |
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std::string | segmentName |
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) | ` [pure virtual]` |

Calculate forward position kinematics for a KDL::Tree, from joint coordinates to cartesian pose.

**Parameters:**-
q_in input joint coordinates p_out reference to output cartesian pose

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

Implemented in KDL::TreeFkSolverPos_recursive.

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