#include <chainfksolvervel_recursive.hpp>
Public Member Functions | |
| ChainFkSolverVel_recursive (const Chain &chain) | |
| virtual int | JntToCart (const JntArrayVel &q_in, FrameVel &out, int segmentNr=-1) |
| virtual int | JntToCart (const JntArrayVel &q_in, std::vector< FrameVel > &out, int segmentNr=-1) |
| virtual void | updateInternalDataStructures () |
| ~ChainFkSolverVel_recursive () | |
Private Attributes | |
| const Chain & | chain |
Detailed Description
Implementation of a recursive forward position and velocity kinematics algorithm to calculate the position and velocity transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain).
Definition at line 37 of file chainfksolvervel_recursive.hpp.
Constructor & Destructor Documentation
| KDL::ChainFkSolverVel_recursive::ChainFkSolverVel_recursive | ( | const Chain & | chain | ) |
Definition at line 27 of file chainfksolvervel_recursive.cpp.
Definition at line 32 of file chainfksolvervel_recursive.cpp.
Member Function Documentation
| int KDL::ChainFkSolverVel_recursive::JntToCart | ( | const JntArrayVel & | q_in, |
| FrameVel & | out, | ||
| int | segmentNr = -1 |
||
| ) | [virtual] |
Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates.
- Parameters:
-
q_in input joint coordinates (position and velocity) out output cartesian coordinates (position and velocity)
- Returns:
- if < 0 something went wrong
Implements KDL::ChainFkSolverVel.
Definition at line 36 of file chainfksolvervel_recursive.cpp.
| int KDL::ChainFkSolverVel_recursive::JntToCart | ( | const JntArrayVel & | q_in, |
| std::vector< FrameVel > & | out, | ||
| int | segmentNr = -1 |
||
| ) | [virtual] |
Definition at line 67 of file chainfksolvervel_recursive.cpp.
| virtual void KDL::ChainFkSolverVel_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::ChainFkSolverVel.
Definition at line 45 of file chainfksolvervel_recursive.hpp.
Member Data Documentation
const Chain& KDL::ChainFkSolverVel_recursive::chain [private] |
Definition at line 45 of file chainfksolvervel_recursive.hpp.
The documentation for this class was generated from the following files: