KDL::TreeFkSolverPos_recursive Class Reference

`#include <treefksolverpos_recursive.hpp>`

Inheritance diagram for KDL::TreeFkSolverPos_recursive:

## Public Member Functions | |

virtual int | JntToCart (const JntArray &q_in, Frame &p_out, std::string segmentName) |

TreeFkSolverPos_recursive (const Tree &tree) | |

~TreeFkSolverPos_recursive () | |

## Private Member Functions | |

Frame | recursiveFk (const JntArray &q_in, const SegmentMap::const_iterator &it) |

## Private Attributes | |

const Tree | tree |

Implementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic tree (KDL::Tree).

Definition at line 37 of file treefksolverpos_recursive.hpp.

KDL::TreeFkSolverPos_recursive::TreeFkSolverPos_recursive | ( | const Tree & | tree | ) |

Definition at line 28 of file treefksolverpos_recursive.cpp.

Definition at line 64 of file treefksolverpos_recursive.cpp.

int KDL::TreeFkSolverPos_recursive::JntToCart | ( | const JntArray & | q_in, |

Frame & | p_out, |
||

std::string | segmentName |
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) | ` [virtual]` |

Calculate forward position kinematics for a KDL::Tree, from joint coordinates to cartesian pose.

**Parameters:**-
q_in input joint coordinates p_out reference to output cartesian pose

**Returns:**- if < 0 something went wrong

Implements KDL::TreeFkSolverPos.

Definition at line 33 of file treefksolverpos_recursive.cpp.

Frame KDL::TreeFkSolverPos_recursive::recursiveFk | ( | const JntArray & | q_in, |

const SegmentMap::const_iterator & | it |
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) | ` [private]` |

Definition at line 48 of file treefksolverpos_recursive.cpp.

const Tree KDL::TreeFkSolverPos_recursive::tree` [private]` |

Definition at line 46 of file treefksolverpos_recursive.hpp.

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