KDL 1.5.1
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treefksolverpos_recursive.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 KDLTREEFKSOLVERPOS_RECURSIVE_HPP
24#define KDLTREEFKSOLVERPOS_RECURSIVE_HPP
25
26#include "treefksolver.hpp"
27
28namespace KDL {
29
38 {
39 public:
42
43 virtual int JntToCart(const JntArray& q_in, Frame& p_out, std::string segmentName);
44
45 private:
46 const Tree tree;
47
48 Frame recursiveFk(const JntArray& q_in, const SegmentMap::const_iterator& it);
49 };
50
51}
52
53#endif
Definition: frames.hpp:570
Definition: jntarray.hpp:70
Implementation of a recursive forward position kinematics algorithm to calculate the position transfo...
Definition: treefksolverpos_recursive.hpp:38
virtual int JntToCart(const JntArray &q_in, Frame &p_out, std::string segmentName)
Calculate forward position kinematics for a KDL::Tree, from joint coordinates to cartesian pose.
Definition: treefksolverpos_recursive.cpp:33
const Tree tree
Definition: treefksolverpos_recursive.hpp:46
~TreeFkSolverPos_recursive()
Definition: treefksolverpos_recursive.cpp:64
Frame recursiveFk(const JntArray &q_in, const SegmentMap::const_iterator &it)
Definition: treefksolverpos_recursive.cpp:48
Definition: treefksolver.hpp:45
This class encapsulates a tree kinematic interconnection structure.
Definition: tree.hpp:100
Definition: articulatedbodyinertia.cpp:26