treefksolver.hpp
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1 // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
2 // Copyright (C) 2008 Julia Jesse
3 
4 // Version: 1.0
5 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
6 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
7 // URL: http://www.orocos.org/kdl
8 
9 // This library is free software; you can redistribute it and/or
10 // modify it under the terms of the GNU Lesser General Public
11 // License as published by the Free Software Foundation; either
12 // version 2.1 of the License, or (at your option) any later version.
13 
14 // This library is distributed in the hope that it will be useful,
15 // but WITHOUT ANY WARRANTY; without even the implied warranty of
16 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17 // Lesser General Public License for more details.
18 
19 // You should have received a copy of the GNU Lesser General Public
20 // License along with this library; if not, write to the Free Software
21 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
22 
23 #ifndef KDL_TREE_FKSOLVER_HPP
24 #define KDL_TREE_FKSOLVER_HPP
25 
26 #include <string>
27 
28 #include "tree.hpp"
29 //#include "framevel.hpp"
30 //#include "frameacc.hpp"
31 #include "jntarray.hpp"
32 //#include "jntarrayvel.hpp"
33 //#include "jntarrayacc.hpp"
34 
35 namespace KDL {
36 
44  //Forward definition
46  public:
56  virtual int JntToCart(const JntArray& q_in, Frame& p_out, std::string segmentName)=0;
57  virtual ~TreeFkSolverPos(){};
58  };
59 
66 // class TreeFkSolverVel {
67 // public:
77 // virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0;
78 
79 // virtual ~TreeFkSolverVel(){};
80 // };
81 
89 // class TreeFkSolverAcc {
90 // public:
102 // virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0;
103 
104 // virtual ~TreeFkSolverAcc()=0;
105 // };
106 
107 
108 }//end of namespace KDL
109 
110 #endif
virtual int JntToCart(const JntArray &q_in, Frame &p_out, std::string segmentName)=0
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree...
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
virtual ~TreeFkSolverPos()


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