KDL::TreeFkSolverPos Class Reference

This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree. More...

#include <treefksolver.hpp>

Inherited by KDL::TreeFkSolverPos_recursive.

Public Member Functions
virtual int	JntToCart (const JntArray &q_in, Frame &p_out, const std::string &segmentName, const std::string &baseName)=0
virtual	~TreeFkSolverPos ()

Detailed Description

This abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree.

Definition at line 45 of file treefksolver.hpp.

Constructor & Destructor Documentation

~TreeFkSolverPos()

virtual KDL::TreeFkSolverPos::~TreeFkSolverPos ( )

inlinevirtual

Definition at line 57 of file treefksolver.hpp.

Member Function Documentation

JntToCart()

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

pure 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

Implemented in KDL::TreeFkSolverPos_recursive.

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

• treefksolver.hpp