Public Member Functions
KDL::ChainFkSolverVel Class Reference

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

#include <chainfksolver.hpp>

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

Public Member Functions

virtual int JntToCart (const JntArrayVel &q_in, FrameVel &out, int segmentNr=-1)=0
virtual int JntToCart (const JntArrayVel &q_in, std::vector< KDL::FrameVel > &out, int segmentNr=-1)=0
virtual void updateInternalDataStructures ()=0
virtual ~ChainFkSolverVel ()

Detailed Description

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

Definition at line 74 of file chainfksolver.hpp.


Constructor & Destructor Documentation

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

Definition at line 98 of file chainfksolver.hpp.


Member Function Documentation

virtual int KDL::ChainFkSolverVel::JntToCart ( const JntArrayVel q_in,
FrameVel out,
int  segmentNr = -1 
) [pure virtual]

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

Parameters:
q_ininput joint coordinates (position and velocity)
outoutput cartesian coordinates (position and velocity)
Returns:
if < 0 something went wrong

Implemented in KDL::ChainFkSolverVel_recursive.

virtual int KDL::ChainFkSolverVel::JntToCart ( const JntArrayVel q_in,
std::vector< KDL::FrameVel > &  out,
int  segmentNr = -1 
) [pure virtual]

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

Parameters:
q_ininput joint coordinates (position and velocity)
outoutput cartesian coordinates for all segments (position and velocity)
Returns:
if < 0 something went wrong
virtual void KDL::ChainFkSolverVel::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::ChainFkSolverVel_recursive.


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


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