#include <advanced_chainfksolver_recursive.hpp>
Public Member Functions | |
| AdvancedChainFkSolverPos_recursive (const KDL::Chain &chain) | |
| void | dumpAllSegmentPostures () const |
| KDL::Frame | getFrameAtSegment (uint16_t seg_idx) const |
| virtual int | JntToCart (const KDL::JntArray &q_in, KDL::Frame &p_out, int seg_nr=-1) |
| ~AdvancedChainFkSolverPos_recursive () | |
Private Attributes | |
| const KDL::Chain & | chain_ |
| FrameVector_t | segment_pos_ |
Detailed Description
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 35 of file advanced_chainfksolver_recursive.hpp.
Constructor & Destructor Documentation
Definition at line 21 of file advanced_chainfksolver_recursive.cpp.
Definition at line 112 of file advanced_chainfksolver_recursive.cpp.
Member Function Documentation
| void AdvancedChainFkSolverPos_recursive::dumpAllSegmentPostures | ( | ) | const |
Output of all previously set segment positions.
Definition at line 93 of file advanced_chainfksolver_recursive.cpp.
| KDL::Frame AdvancedChainFkSolverPos_recursive::getFrameAtSegment | ( | uint16_t | seg_idx | ) | const |
- Parameters:
-
seg_idx Index of the segment starting with 0.
- Returns:
- The reference frame of the segment.
Access previously set segment positions via index.
Definition at line 78 of file advanced_chainfksolver_recursive.cpp.
| int AdvancedChainFkSolverPos_recursive::JntToCart | ( | const KDL::JntArray & | q_in, |
| KDL::Frame & | p_out, | ||
| int | seg_nr = -1 |
||
| ) | [virtual] |
- Parameters:
-
q_in Joint states. p_out The output frame of the given segment or end-effector. seg_nr The max. segment nr until calculation should stop.
- Returns:
- An error code (0 == success)
Calculates the cartesion positions given to the joints array. This special implementation ensures that the positions are stored in a vector so it is not necessary to call the method for each segment again and again.
Implements KDL::ChainFkSolverPos.
Definition at line 31 of file advanced_chainfksolver_recursive.cpp.
Member Data Documentation
const KDL::Chain& AdvancedChainFkSolverPos_recursive::chain_ [private] |
Definition at line 58 of file advanced_chainfksolver_recursive.hpp.
Definition at line 59 of file advanced_chainfksolver_recursive.hpp.
The documentation for this class was generated from the following files: