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23 #ifndef KDLTREEFKSOLVERPOS_RECURSIVE_HPP
24 #define KDLTREEFKSOLVERPOS_RECURSIVE_HPP
unsigned int getNrOfJoints() const
Request the total number of joints in the tree.
Definition: tree.hpp:159
Implementation of a recursive forward position kinematics algorithm to calculate the position transfo...
Definition: treefksolverpos_recursive.hpp:37
Definition: jntarray.hpp:69
SegmentMap::const_iterator getRootSegment() const
Request the root segment of the tree.
Definition: tree.hpp:186
Definition: treefksolver.hpp:45
#define GetTreeElementParent(tree_element)
Definition: tree.hpp:60
Definition: articulatedbodyinertia.cpp:28
const SegmentMap & getSegments() const
Definition: tree.hpp:205
unsigned int rows() const
Returns the number of rows (size) of the array.
Definition: jntarray.cpp:72
~TreeFkSolverPos_recursive()
Definition: treefksolverpos_recursive.cpp:64
const Tree tree
Definition: treefksolverpos_recursive.hpp:46
Definition: frames.hpp:570
Frame recursiveFk(const JntArray &q_in, const SegmentMap::const_iterator &it)
Definition: treefksolverpos_recursive.cpp:48
This class encapsulates a tree kinematic interconnection structure.
Definition: tree.hpp:99
#define GetTreeElementSegment(tree_element)
Definition: tree.hpp:62
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
SegmentMap::const_iterator getSegment(const std::string &segment_name) const
Request the segment of the tree with name segment_name.
Definition: tree.hpp:177
TreeFkSolverPos_recursive(const Tree &tree)
Definition: treefksolverpos_recursive.cpp:28
#define GetTreeElementQNr(tree_element)
Definition: tree.hpp:61