Public Member Functions | List of all members
KDL::ChainFkSolverAcc Class Referenceabstract

This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain. More...

#include <chainfksolver.hpp>

Inheritance diagram for KDL::ChainFkSolverAcc:
Inheritance graph
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Public Member Functions

virtual int JntToCart (const JntArrayAcc &q_in, FrameAcc &out, int segmentNr=-1)=0
 
virtual int JntToCart (const JntArrayAcc &q_in, std::vector< FrameAcc > &out, int segmentNr=-1)=0
 
virtual void updateInternalDataStructures ()=0
 
virtual ~ChainFkSolverAcc ()=0
 
- Public Member Functions inherited from KDL::SolverI
virtual int getError () const
 Return the latest error. More...
 
 SolverI ()
 Initialize latest error to E_NOERROR. More...
 
virtual const char * strError (const int error) const
 
virtual ~SolverI ()
 

Additional Inherited Members

- Public Types inherited from KDL::SolverI
enum  {
  E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2,
  E_NOT_UP_TO_DATE = -3, E_SIZE_MISMATCH = -4, E_MAX_ITERATIONS_EXCEEDED = -5, E_OUT_OF_RANGE = -6,
  E_NOT_IMPLEMENTED = -7, E_SVD_FAILED = -8
}
 
- Protected Attributes inherited from KDL::SolverI
int error
 Latest error, initialized to E_NOERROR in constructor. More...
 

Detailed Description

This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain.

Definition at line 108 of file chainfksolver.hpp.

Constructor & Destructor Documentation

virtual KDL::ChainFkSolverAcc::~ChainFkSolverAcc ( )
pure virtual

Member Function Documentation

virtual int KDL::ChainFkSolverAcc::JntToCart ( const JntArrayAcc q_in,
FrameAcc out,
int  segmentNr = -1 
)
pure virtual

Calculate forward position, velocity and accelaration kinematics, from joint coordinates to cartesian coordinates

Parameters
q_ininput joint coordinates (position, velocity and acceleration
outoutput cartesian coordinates (position, velocity and acceleration
Returns
if < 0 something went wrong
virtual int KDL::ChainFkSolverAcc::JntToCart ( const JntArrayAcc q_in,
std::vector< FrameAcc > &  out,
int  segmentNr = -1 
)
pure virtual

Calculate forward position, velocity and accelaration kinematics, from joint coordinates to cartesian coordinates

Parameters
q_ininput joint coordinates (position, velocity and acceleration
outoutput cartesian coordinates (position, velocity and acceleration for all segments
Returns
if < 0 something went wrong
virtual void KDL::ChainFkSolverAcc::updateInternalDataStructures ( )
pure virtual

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::SolverI.


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


orocos_kdl
Author(s):
autogenerated on Wed Mar 6 2019 03:07:25