chainfksolvervel_recursive.hpp
Go to the documentation of this file.
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_FKSOLVERVEL_RECURSIVE_HPP
23 #define KDL_CHAIN_FKSOLVERVEL_RECURSIVE_HPP
24 
25 #include "chainfksolver.hpp"
26 
27 namespace KDL
28 {
38  {
39  public:
42 
43  virtual int JntToCart(const JntArrayVel& q_in,FrameVel& out,int segmentNr=-1);
44  virtual int JntToCart(const JntArrayVel& q_in,std::vector<FrameVel>& out,int segmentNr=-1);
45  virtual void updateInternalDataStructures() {};
46  private:
47  const Chain& chain;
48  };
49 }
50 
51 #endif
This class encapsulates a serial kinematic interconnection structure. It is built out of segments...
Definition: chain.hpp:35
virtual int JntToCart(const JntArrayVel &q_in, FrameVel &out, int segmentNr=-1)
This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain...


orocos_kdl
Author(s):
autogenerated on Tue Sep 1 2020 03:18:51