22 #ifndef KDL_CHAIN_FKSOLVER_HPP 23 #define KDL_CHAIN_FKSOLVER_HPP 62 virtual int JntToCart(
const JntArray& q_in, std::vector<KDL::Frame>& p_out,
int segmentNr=-1)=0;
95 virtual int JntToCart(
const JntArrayVel& q_in, std::vector<KDL::FrameVel>& out,
int segmentNr=-1)=0;
This class represents an fixed size array containing joint values of a KDL::Chain.
Definition: jntarray.hpp:69
Solver interface supporting storage and description of the latest error.
Definition: solveri.hpp:84
virtual ~ChainFkSolverVel()
Definition: chainfksolver.hpp:98
Definition: frameacc.hpp:165
virtual int JntToCart(const JntArray &q_in, Frame &p_out, int segmentNr=-1)=0
Calculate forward position kinematics for a KDL::Chain, from joint coordinates to cartesian pose...
Definition: articulatedbodyinertia.cpp:28
virtual void updateInternalDataStructures()=0
Update the internal data structures.
Definition: jntarrayvel.hpp:45
virtual ~ChainFkSolverPos()
Definition: chainfksolver.hpp:65
This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain...
Definition: chainfksolver.hpp:108
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
Definition: framevel.hpp:197
Definition: jntarrayacc.hpp:49
This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain...
Definition: chainfksolver.hpp:74
This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain...
Definition: chainfksolver.hpp:41