chainfksolverpos_recursive.hpp
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00001 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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 #ifndef KDLCHAINFKSOLVERPOS_RECURSIVE_HPP
00023 #define KDLCHAINFKSOLVERPOS_RECURSIVE_HPP
00024 
00025 #include "chainfksolver.hpp"
00026 
00027 namespace KDL {
00028 
00036     class ChainFkSolverPos_recursive : public ChainFkSolverPos
00037     {
00038     public:
00039         ChainFkSolverPos_recursive(const Chain& chain);
00040         ~ChainFkSolverPos_recursive();
00041 
00042         virtual int JntToCart(const JntArray& q_in, Frame& p_out, int segmentNr=-1);
00043         virtual int JntToCart(const JntArray& q_in, std::vector<Frame>& p_out, int segmentNr=-1);
00044 
00045         virtual void updateInternalDataStructures() {};
00046 
00047     private:
00048         const Chain& chain;
00049     };
00050 
00051 }
00052 
00053 #endif


orocos_kdl
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autogenerated on Fri Jun 14 2019 19:33:22