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

#include <chainfksolvervel_recursive.hpp>

Inheritance diagram for KDL::ChainFkSolverVel_recursive:
Inheritance graph

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)
 ~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

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.

q_ininput joint coordinates (position and velocity)
outoutput cartesian coordinates (position and velocity)
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.

Member Data Documentation

Definition at line 46 of file chainfksolvervel_recursive.hpp.

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

autogenerated on Sat Oct 7 2017 03:04:29