Public Member Functions
KDL::ChainFkSolverPos Class Reference

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

#include <chainfksolver.hpp>

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

Public Member Functions

virtual int JntToCart (const JntArray &q_in, Frame &p_out, int segmentNr=-1)=0
virtual int JntToCart (const JntArray &q_in, std::vector< KDL::Frame > &p_out, int segmentNr=-1)=0
virtual void updateInternalDataStructures ()=0
virtual ~ChainFkSolverPos ()

Detailed Description

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

Definition at line 41 of file chainfksolver.hpp.


Constructor & Destructor Documentation

virtual KDL::ChainFkSolverPos::~ChainFkSolverPos ( ) [inline, virtual]

Definition at line 65 of file chainfksolver.hpp.


Member Function Documentation

virtual int KDL::ChainFkSolverPos::JntToCart ( const JntArray q_in,
Frame p_out,
int  segmentNr = -1 
) [pure virtual]

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

Parameters:
q_ininput joint coordinates
p_outreference to output cartesian pose
Returns:
if < 0 something went wrong

Implemented in KDL::ChainFkSolverPos_recursive.

virtual int KDL::ChainFkSolverPos::JntToCart ( const JntArray q_in,
std::vector< KDL::Frame > &  p_out,
int  segmentNr = -1 
) [pure virtual]

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

Parameters:
q_ininput joint coordinates
p_outreference to a vector of output cartesian poses for all segments
Returns:
if < 0 something went wrong
virtual void KDL::ChainFkSolverPos::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.

Implemented in KDL::ChainFkSolverPos_recursive.


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


orocos_kdl
Author(s):
autogenerated on Thu Jan 3 2019 03:34:01