Public Member Functions | Private Attributes
KDL::ChainFkSolverVel_recursive Class Reference

#include <chainfksolvervel_recursive.hpp>

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

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 Chainchain

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

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_ininput joint coordinates (position and velocity)
outoutput 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.

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

Definition at line 45 of file chainfksolvervel_recursive.hpp.


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


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