chainfksolverpos_recursive.hpp
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1 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 
3 // Version: 1.0
4 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
5 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // URL: http://www.orocos.org/kdl
7 
8 // This library is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU Lesser General Public
10 // License as published by the Free Software Foundation; either
11 // version 2.1 of the License, or (at your option) any later version.
12 
13 // This library is distributed in the hope that it will be useful,
14 // but WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // Lesser General Public License for more details.
17 
18 // You should have received a copy of the GNU Lesser General Public
19 // License along with this library; if not, write to the Free Software
20 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
21 
22 #ifndef KDLCHAINFKSOLVERPOS_RECURSIVE_HPP
23 #define KDLCHAINFKSOLVERPOS_RECURSIVE_HPP
24 
25 #include "chainfksolver.hpp"
26 
27 namespace KDL {
28 
37  {
38  public:
41 
42  virtual int JntToCart(const JntArray& q_in, Frame& p_out, int segmentNr=-1);
43  virtual int JntToCart(const JntArray& q_in, std::vector<Frame>& p_out, int segmentNr=-1);
44 
45  virtual void updateInternalDataStructures() {};
46 
47  private:
48  const Chain& chain;
49  };
50 
51 }
52 
53 #endif
virtual int JntToCart(const JntArray &q_in, Frame &p_out, int segmentNr=-1)
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
Definition: chain.hpp:35
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain...


orocos_kdl
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autogenerated on Fri Jun 14 2019 19:15:38