22 #ifndef KDLCHAINFKSOLVERPOS_RECURSIVE_HPP 23 #define KDLCHAINFKSOLVERPOS_RECURSIVE_HPP 43 virtual int JntToCart(
const JntArray& q_in, std::vector<Frame>& p_out,
int segmentNr=-1);
virtual int JntToCart(const JntArray &q_in, Frame &p_out, int segmentNr=-1)
Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose...
Definition: chainfksolverpos_recursive.cpp:33
Implementation of a recursive forward position kinematics algorithm to calculate the position transfo...
Definition: chainfksolverpos_recursive.hpp:36
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainfksolverpos_recursive.hpp:45
This class encapsulates a serial kinematic interconnection structure.
Definition: chain.hpp:35
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
ChainFkSolverPos_recursive(const Chain &chain)
Definition: chainfksolverpos_recursive.cpp:28
Definition: articulatedbodyinertia.cpp:28
~ChainFkSolverPos_recursive()
Definition: chainfksolverpos_recursive.cpp:95
const Chain & chain
Definition: chainfksolverpos_recursive.hpp:45
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain...
Definition: chainfksolver.hpp:41