chainfksolver.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 KDL_CHAIN_FKSOLVER_HPP
23 #define KDL_CHAIN_FKSOLVER_HPP
24 
25 #include "chain.hpp"
26 #include "framevel.hpp"
27 #include "frameacc.hpp"
28 #include "jntarray.hpp"
29 #include "jntarrayvel.hpp"
30 #include "jntarrayacc.hpp"
31 #include "solveri.hpp"
32 
33 namespace KDL {
40  //Forward definition
41  class ChainFkSolverPos : public KDL::SolverI {
42  public:
52  virtual int JntToCart(const JntArray& q_in, Frame& p_out,int segmentNr=-1)=0;
62  virtual int JntToCart(const JntArray& q_in, std::vector<KDL::Frame>& p_out,int segmentNr=-1)=0;
63 
64  virtual void updateInternalDataStructures()=0;
65  virtual ~ChainFkSolverPos(){};
66  };
67 
74  class ChainFkSolverVel : public KDL::SolverI {
75  public:
85  virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0;
95  virtual int JntToCart(const JntArrayVel& q_in, std::vector<KDL::FrameVel>& out,int segmentNr=-1)=0;
96 
97  virtual void updateInternalDataStructures()=0;
98  virtual ~ChainFkSolverVel(){};
99  };
100 
109  public:
121  virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0;
133  virtual int JntToCart(const JntArrayAcc& q_in, std::vector<FrameAcc>& out,int segmentNr=-1)=0;
134 
135  virtual void updateInternalDataStructures()=0;
136  virtual ~ChainFkSolverAcc()=0;
137  };
138 
139 
140 }//end of namespace KDL
141 
142 #endif
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
virtual int JntToCart(const JntArray &q_in, Frame &p_out, int segmentNr=-1)=0
virtual void updateInternalDataStructures()=0
This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain...
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain...
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain...


orocos_kdl
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autogenerated on Tue Sep 1 2020 03:18:51