KDL::TreeFkSolverPos_recursive Class Reference

#include <treefksolverpos_recursive.hpp>

Inheritance diagram for KDL::TreeFkSolverPos_recursive:

Public Member Functions
	TreeFkSolverPos_recursive (const Tree &tree)
	~TreeFkSolverPos_recursive ()
virtual int	JntToCart (const JntArray &q_in, Frame &p_out, const std::string &segmentName, const std::string &baseName)
Public Member Functions inherited from KDL::TreeFkSolverPos
virtual	~TreeFkSolverPos ()

Detailed Description

Implementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic tree (KDL::Tree).

Definition at line 37 of file treefksolverpos_recursive.hpp.

Constructor & Destructor Documentation

TreeFkSolverPos_recursive()

KDL::TreeFkSolverPos_recursive::TreeFkSolverPos_recursive

(

const Tree &

tree

)

Definition at line 31 of file treefksolverpos_recursive.cpp.

~TreeFkSolverPos_recursive()

KDL::TreeFkSolverPos_recursive::~TreeFkSolverPos_recursive

(

)

Definition at line 67 of file treefksolverpos_recursive.cpp.

Member Function Documentation

JntToCart()

int KDL::TreeFkSolverPos_recursive::JntToCart ( const JntArray &  q_in, Frame &  p_out, const std::string &  segmentName, const std::string &  baseName  )

virtual

Calculate forward position kinematics for a KDL::Tree, from joint coordinates to cartesian pose.

Parameters

q_in	input joint coordinates
p_out	reference to output cartesian pose

Returns

if < 0 something went wrong

Implements KDL::TreeFkSolverPos.

Definition at line 36 of file treefksolverpos_recursive.cpp.

References KDL::Tree::getNrOfJoints(), KDL::Tree::getSegmentPtr(), and KDL::JntArray::rows().

Referenced by iTaSC::Armature::getRelativeFrame(), and iTaSC::Armature::updateJacobian().

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

• treefksolverpos_recursive.hpp
• treefksolverpos_recursive.cpp