KDL 1.5.1
Loading...
Searching...
No Matches
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
27namespace 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);
46 private:
47 const Chain& chain;
48 };
49}
50
51#endif
Implementation of a recursive forward position and velocity kinematics algorithm to calculate the pos...
Definition: chainfksolvervel_recursive.hpp:38
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainfksolvervel_recursive.hpp:45
virtual int JntToCart(const JntArrayVel &q_in, FrameVel &out, int segmentNr=-1)
Calculate forward position and velocity kinematics, from joint coordinates to cartesian coordinates.
Definition: chainfksolvervel_recursive.cpp:37
~ChainFkSolverVel_recursive()
Definition: chainfksolvervel_recursive.cpp:33
const Chain & chain
Definition: chainfksolvervel_recursive.hpp:47
This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain.
Definition: chainfksolver.hpp:74
Definition: chain.hpp:35
Definition: framevel.hpp:219
Definition: jntarrayvel.hpp:46
Definition: articulatedbodyinertia.cpp:26