Public Member Functions
KDL::ChainFkSolverAcc Class Reference

This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain. More...

#include <chainfksolver.hpp>

Inheritance diagram for KDL::ChainFkSolverAcc:
Inheritance graph
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List of all members.

Public Member Functions

virtual int JntToCart (const JntArrayAcc &q_in, FrameAcc &out, int segmentNr=-1)=0
virtual int JntToCart (const JntArrayAcc &q_in, std::vector< FrameAcc > &out, int segmentNr=-1)=0
virtual void updateInternalDataStructures ()=0
virtual ~ChainFkSolverAcc ()=0

Detailed Description

This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain.

Definition at line 108 of file chainfksolver.hpp.


Constructor & Destructor Documentation

virtual KDL::ChainFkSolverAcc::~ChainFkSolverAcc ( ) [pure virtual]

Member Function Documentation

virtual int KDL::ChainFkSolverAcc::JntToCart ( const JntArrayAcc q_in,
FrameAcc out,
int  segmentNr = -1 
) [pure virtual]

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

Parameters:
q_ininput joint coordinates (position, velocity and acceleration
outoutput cartesian coordinates (position, velocity and acceleration
Returns:
if < 0 something went wrong
virtual int KDL::ChainFkSolverAcc::JntToCart ( const JntArrayAcc q_in,
std::vector< FrameAcc > &  out,
int  segmentNr = -1 
) [pure virtual]

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

Parameters:
q_ininput joint coordinates (position, velocity and acceleration
outoutput cartesian coordinates (position, velocity and acceleration for all segments
Returns:
if < 0 something went wrong
virtual void KDL::ChainFkSolverAcc::updateInternalDataStructures ( ) [pure virtual]

Update the internal data structures. This is required if the number of segments or number of joints of a chain/tree have changed. This provides a single point of contact for solver memory allocations.

Implements KDL::SolverI.


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


orocos_kdl
Author(s):
autogenerated on Wed Mar 6 2019 03:36:13