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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);
ChainFkSolverPos_recursive(const Chain &chain)
Definition: chainfksolverpos_recursive.cpp:28
static Frame Identity()
Definition: frames.inl:695
Definition: jntarray.hpp:69
const Joint & getJoint() const
Request the joint of the segment.
Definition: segment.hpp:118
~ChainFkSolverPos_recursive()
Definition: chainfksolverpos_recursive.cpp:95
Definition: chainfksolver.hpp:41
const Chain & chain
Definition: chainfksolverpos_recursive.hpp:45
Definition: articulatedbodyinertia.cpp:28
unsigned int getNrOfSegments() const
Request the total number of segments in the chain.
Definition: chain.hpp:76
@ E_OUT_OF_RANGE
Requested index out of range.
Definition: solveri.hpp:103
unsigned int rows() const
Returns the number of rows (size) of the array.
Definition: jntarray.cpp:72
const Segment & getSegment(unsigned int nr) const
Request the nr'd segment of the chain.
Definition: chain.cpp:68
@ E_SIZE_MISMATCH
Input size does not match internal state.
Definition: solveri.hpp:99
Frame pose(const double &q) const
Request the pose of the segment, given the joint position q.
Definition: segment.cpp:57
Definition: frames.hpp:570
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
@ None
Definition: joint.hpp:47
virtual void updateInternalDataStructures()
Update the internal data structures.
Definition: chainfksolverpos_recursive.hpp:45
const JointType & getType() const
Request the type of the joint.
Definition: joint.hpp:159
@ E_NOERROR
No error.
Definition: solveri.hpp:91
Implementation of a recursive forward position kinematics algorithm to calculate the position transfo...
Definition: chainfksolverpos_recursive.hpp:36
unsigned int getNrOfJoints() const
Request the total number of joints in the chain.
Definition: chain.hpp:71
int error
Latest error, initialized to E_NOERROR in constructor.
Definition: solveri.hpp:149