#include <KdlChainIk.h>

Public Member Functions
const std::string &	getBaseFrame () const
	Get base Frame.
void	getCurrentPose (const KDL::JntArray &joints_in, KDL::Frame &currPose) const
void	getJointNames (std::vector< std::string > &) const
	Retrieve joint names from Segment.
void	getJointPositions (const KDL::JntArray &joints_in, const std::vector< KDL::Frame > &tipPositions, std::vector< KDL::JntArray > &joints_out) const
	Retrieve joint positions.
	KdlChainIk (const KDL::Chain &_chain)
	Constructor for KdlChainIk.
	~KdlChainIk ()
Private Attributes
KDL::Chain	chain
std::auto_ptr < KDL::ChainFkSolverPos >	fkPosSolverPtr
std::auto_ptr < KDL::ChainIkSolverPos >	ikPosSolverPtr
std::auto_ptr < KDL::ChainIkSolverVel >	ikVelSolverPtr

Detailed Description

Definition at line 12 of file KdlChainIk.h.

Constructor & Destructor Documentation

KdlChainIk::KdlChainIk ( const KDL::Chain & _chain )

Constructor for KdlChainIk.

Parameters:

_chain

Definition at line 14 of file KdlChainIk.cpp.

KdlChainIk::~KdlChainIk ( )

Definition at line 83 of file KdlChainIk.cpp.

const std::string & KdlChainIk::getBaseFrame ( ) const

Get base Frame.

Definition at line 92 of file KdlChainIk.cpp.

void KdlChainIk::getCurrentPose	(	const KDL::JntArray &	joints_in,
		KDL::Frame &	currPose
	)		const

Definition at line 156 of file KdlChainIk.cpp.

void KdlChainIk::getJointNames ( std::vector< std::string > & jointNames ) const

Retrieve joint names from Segment.

Parameters:

jointNames Vector string to place joint names into

Definition at line 102 of file KdlChainIk.cpp.

void KdlChainIk::getJointPositions	(	const KDL::JntArray &	joints_in,
		const std::vector< KDL::Frame > &	tipPositions,
		std::vector< KDL::JntArray > &	joints_out
	)		const