23 #ifndef KDL_TREE_FKSOLVER_HPP 24 #define KDL_TREE_FKSOLVER_HPP virtual int JntToCart(const JntArray &q_in, Frame &p_out, std::string segmentName)=0
Calculate forward position kinematics for a KDL::Tree, from joint coordinates to cartesian pose...
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree...
Definition: treefksolver.hpp:45
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
Definition: articulatedbodyinertia.cpp:28
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
virtual ~TreeFkSolverPos()
Definition: treefksolver.hpp:57