treefksolverposfull_recursive.hpp
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00001 // Copyright  (C)  2009 Willow Garage Inc
00002 
00003 // Version: 1.0
00004 // Author: Wim Meeussen <meeussen at willowgarage dot com>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 
00023 #ifndef KDLTREEFKSOLVERPOSFULL_RECURSIVE_HPP
00024 #define KDLTREEFKSOLVERPOSFULL_RECURSIVE_HPP
00025 
00026 #include <kdl/tree.hpp>
00027 #include <tf/transform_datatypes.h>
00028 
00029 
00030 namespace KDL {
00031 
00032 class TreeFkSolverPosFull_recursive
00033 
00034 {
00035 public:
00036   TreeFkSolverPosFull_recursive(const Tree& _tree);
00037   ~TreeFkSolverPosFull_recursive();
00038 
00039   int JntToCart(const std::map<std::string, double>& q_in, std::map<std::string, tf::Stamped<Frame> >& p_out, bool flatten_tree=true);
00040 
00041 private:
00042   void addFrameToMap(const std::map<std::string, double>& q_in, 
00043                      std::map<std::string, tf::Stamped<KDL::Frame> >& p_out,
00044                      const tf::Stamped<KDL::Frame>& previous_frame,
00045                      const SegmentMap::const_iterator this_segment,
00046                      bool flatten_tree);
00047 
00048   Tree tree;
00049 
00050 };
00051 }
00052 
00053 #endif
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robot_state_publisher
Author(s): Wim Meeussen meeussen@willowgarage.com
autogenerated on Mon Aug 19 2013 11:02:17