KDL::ChainFkSolverAcc Class Reference

This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain. More...

#include <chainfksolver.hpp>

Public Member Functions
virtual int	JntToCart (const JntArrayAcc &q_in, FrameAcc &out, int segmentNr=-1)=0
virtual	~ChainFkSolverAcc ()=0

Detailed Description

This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain.

Definition at line 86 of file chainfksolver.hpp.

Constructor & Destructor Documentation

~ChainFkSolverAcc()

virtual KDL::ChainFkSolverAcc::~ChainFkSolverAcc ( )

pure virtual

Member Function Documentation

JntToCart()

virtual int KDL::ChainFkSolverAcc::JntToCart ( const JntArrayAcc & q_in, FrameAcc & out, int segmentNr = -1 )

pure virtual

Calculate forward position, velocity and accelaration kinematics, from joint coordinates to cartesian coordinates

Parameters

q_in	input joint coordinates (position, velocity and acceleration
out	output cartesian coordinates (position, velocity and acceleration

Returns

if < 0 something went wrong

References out.

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The documentation for this class was generated from the following file:

• chainfksolver.hpp