#include <chainfksolverpos_recursive.hpp>
Public Member Functions | |
| ChainFkSolverPos_recursive (const Chain &chain) | |
| virtual int | JntToCart (const JntArray &q_in, Frame &p_out, int segmentNr=-1) |
| virtual int | JntToCart (const JntArray &q_in, std::vector< Frame > &p_out, int segmentNr=-1) |
| virtual void | updateInternalDataStructures () |
| ~ChainFkSolverPos_recursive () | |
Private Attributes | |
| const Chain & | chain |
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 36 of file chainfksolverpos_recursive.hpp.
Constructor & Destructor Documentation
| KDL::ChainFkSolverPos_recursive::ChainFkSolverPos_recursive | ( | const Chain & | chain | ) |
Definition at line 28 of file chainfksolverpos_recursive.cpp.
Definition at line 95 of file chainfksolverpos_recursive.cpp.
Member Function Documentation
| int KDL::ChainFkSolverPos_recursive::JntToCart | ( | const JntArray & | q_in, |
| Frame & | p_out, | ||
| int | segmentNr = -1 |
||
| ) | [virtual] |
Calculate forward position kinematics for a KDL::Chain, 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
Implements KDL::ChainFkSolverPos.
Definition at line 33 of file chainfksolverpos_recursive.cpp.
| int KDL::ChainFkSolverPos_recursive::JntToCart | ( | const JntArray & | q_in, |
| std::vector< Frame > & | p_out, | ||
| int | segmentNr = -1 |
||
| ) | [virtual] |
Definition at line 59 of file chainfksolverpos_recursive.cpp.
| virtual void KDL::ChainFkSolverPos_recursive::updateInternalDataStructures | ( | ) | [inline, 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::ChainFkSolverPos.
Definition at line 45 of file chainfksolverpos_recursive.hpp.
Member Data Documentation
const Chain& KDL::ChainFkSolverPos_recursive::chain [private] |
Definition at line 45 of file chainfksolverpos_recursive.hpp.
The documentation for this class was generated from the following files: